Incremental three-dimensional convex hull algorithm

Start from a nondegenerate tetrahedron and insert remaining points one at a time. Discard a point inside the current convex polyhedron; otherwise replace faces visible from it by the cone from that point to the horizon of a convex polyhedron. Scanning every current face gives $O(n^2)$ worst-case time complexity and $O(n)$ current-hull storage in three dimensions. Coplanar input requires a separate degeneracy policy.