A tutorial on the QuickHull algorithm by Dirk Gregorius (Valve Software) was given at the 2014 Game Developers Conference in San Francisco.
There are some other 3D convex hull implementations available in netland, but I didn't find any that satisfied all the above criteria, so I created my own. The principal class is QuickHull3D, which is contained within the package quickhull3d. It is actually a reimplementaion of an earlier piece of work, ConvexHull3D, which was based on an insertion algorithm and had a complexity of O(n^2).
Mark Newbold has used this package to create a very picturesque applet that creates and displays Waterman polyhedra
Quickhull3d downloading and documentation: