initialize H = p1, p2, p3, p4 
for i = 5 to n
do:
  •for each face f of H
   do:
    •compute volume of tetrahedron formed by (f,pi)
    •if volume < 0: f is visible
   •if no faces are visible
     •discard pi (pi must be inside H)
   •else 
     •find border edge of all visible faces
     •for each border edge e construct a face (e,pi) and add to H
   •for each visible face f: delete f from H