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In this work, a new multicast routing algorithm for wireless networks is presented. The algorithm, called SWIM (Source-initiated WIreless Multicast), is a depth-optimal multicast tree formation algorithm. SWIM is fully distributed and has an average computational complexity of O(N 2 ). SWIM forms a shared tree from the source(s) to destinations / yet, as a by-product, it creates a multicast mesh structure by maintaining alternative paths at every tree node. This makes SWIM suitable for both ad hoc networks and access networks with multiple gateways. An extension to the main algorithm is presented for the use in dynamic networks with mobility and/or dynamic destination group. Performance of SWIM is studied with simulations and is compared to other algorithms in the literature. Due to depth optimality, SWIM achieves a lower average and maximum delay than the compared algorithms. The throughput performance is found to be high. Working capability with rateless codes are also studied.