Chew 1989 introduces an algorithm O(nlogn)for generating CDT, as well as Sloan 1992 . I find Sloan's algorithm easier, but your mileage may vary.
For dynamic updates, the best algorithm I know is presented by Kallmann et al . IIRC their algorithm is quite sensitive to the number of constraints, and therefore not suitable for, for example, pathfinding in a world like Minecraft, where the constraint space is large and very dynamic.
All of these documents cover two-dimensional spaces; if you want this in 3D, I suspect you will have to do some original research. In any case, good luck.
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