How to fill polygon with triangles?

Hello guys. I’m trying to make custom pathfinding system. For now, I made system which will create dots near walls and connect them:


(Red are walls, Yellow are Dot’s parent in terms of creation, and Green is Waypoint dots and their connections)
But I want make smth like NavMesh, and it should look like:
image
Can anyone give me idea how I can make this?

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Most likely you want to use: Delaunay triangulation - Wikipedia