Triangulating complex polygons

I'm trying to find an easy to implement algorithm that will take a non-convex polygon with no holes and find a triangulation of it.  My googling is returning a lot of math when what I really need is an algorithm or some source code to work from.

>>2
Wrong, they don't make you do computational geometry in CS schools.  It is because the fastest collision detection algorithms only work on convex polygons.  I'm asking for any links that explain how to do this in polynomial time that aren't 100 page math papers.