Checking of Delaunay triangulation in 3D

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One of the easy ways of checking Delaunay triangulation in 2D is to see if all the angles are acute or right angles. Do we have some kind of easy checking in 3D as well?

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In 2D, no circumscribed circle of a triangle may contain another point. In 3D, no circumscribed sphere of a tetrahedron may contain another point.