Get convex polygons from vertex

Question

Im writing a game in XNA and Im working right now in the pathfinding of the AI.

In my map there are some circular obstacles and I would like to use the mesh navigation technique (http://udn.epicgames.com/Three/NavigationMeshReference.html) so previously I need to convert those obstacles in a set of convex polygons.

Something like this:

Ive been searching in google for long time but couldnt find how to do it. Any clue? Thanks!

Answer 1

Is a Delaunay triangulation what you are looking for?