tetrahedrizing a mesh

I am looking for an algorithm that receives a 3d surface mesh (i.e comprised of 3d triangles that are a discretization of some manifold) and generates tetrahedra inside the mesh's volume. i.e, I want the 3d equivalent to this 2d problem: given a closed curve, triangulate it's interior. I am sorry if this is unclear, it's the best way I could think of explaining it. For the 2d case there's Triangle. For a 3d case I could find none.