generate vertex index list for concave polyhedra

Does anyone know of a simple library or function within or without OpenGL which can convert a list of 3-D vertex coordinates (ordered into a number of parallel planes) into a vertex index list for a polyhedra (comprised by “meshing” the vertices). The vertex list is then sent down the graphics pipeline to render a polyhedron using a simple perspective projection.

The problem is that some of the polygons and hence polyhedra are, at least partially, concave.
I know Qhull can do this stuff for convex polygons/polyhedra, but does anyone know of anything suitable for concave polygons/polyhedra?( I don’t want to re-invent the wheel if it’s not necessary)

Thanks in advance