diff --git a/CHANGELOG.md b/CHANGELOG.md
index b49a9851..d54a27fd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,7 @@
 - Significantly improved the general stability of mesh/mesh intersection calculation.
 - Rename `Shape::clone_box` to `Shape::clone_dyn` (the `clone_box` method still exists but has been
   deprecated).
+- Make `try_convex_hull` return an error instead of panicking if less than 3 input points are given.
 
 ## v0.16.1
 
diff --git a/crates/parry3d-f64/Cargo.toml b/crates/parry3d-f64/Cargo.toml
index edb6dd94..cef9c114 100644
--- a/crates/parry3d-f64/Cargo.toml
+++ b/crates/parry3d-f64/Cargo.toml
@@ -57,7 +57,7 @@ num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
 rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
-spade = { version = "2", optional = true } # Make this optional?
+spade = { version = "2.9", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
 rstar = "0.12.0"
diff --git a/crates/parry3d/Cargo.toml b/crates/parry3d/Cargo.toml
index 5603c710..c2818326 100644
--- a/crates/parry3d/Cargo.toml
+++ b/crates/parry3d/Cargo.toml
@@ -57,7 +57,7 @@ num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
 rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
-spade = { version = "2", optional = true } # Make this optional?
+spade = { version = "2.9", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
 log = "0.4"
diff --git a/src/transformation/convex_hull3/convex_hull.rs b/src/transformation/convex_hull3/convex_hull.rs
index a28fa20e..be19b161 100644
--- a/src/transformation/convex_hull3/convex_hull.rs
+++ b/src/transformation/convex_hull3/convex_hull.rs
@@ -15,8 +15,8 @@ pub fn convex_hull(points: &[Point3<Real>]) -> (Vec<Point3<Real>>, Vec<[u32; 3]>
 pub fn try_convex_hull(
     points: &[Point3<Real>],
 ) -> Result<(Vec<Point3<Real>>, Vec<[u32; 3]>), ConvexHullError> {
-    if points.is_empty() {
-        return Ok((Vec::new(), Vec::new()));
+    if points.len() < 3 {
+        return Err(ConvexHullError::IncompleteInput);
     }
 
     // print_buildable_vec("input", points);
diff --git a/src/transformation/convex_hull3/error.rs b/src/transformation/convex_hull3/error.rs
index ea879c0f..5a298085 100644
--- a/src/transformation/convex_hull3/error.rs
+++ b/src/transformation/convex_hull3/error.rs
@@ -1,25 +1,19 @@
-#[derive(Debug, PartialEq)]
+#[derive(thiserror::Error, Debug, PartialEq)]
 /// Errors generated by the convex-hull calculation.
 pub enum ConvexHullError {
     /// Reached an impossible configuration in the convex-hull calculation,
     /// likely because of a bug.
+    #[error("Internal error: {0}")]
     InternalError(&'static str),
     /// The convex hull calculation was unable to find a support point.
     /// This generally happens if the input point set contains invalid points (with NaN coordinates)
     /// or if they are almost coplanar.
+    #[error("Input points are either invalid (NaN) or are almost coplanar.")]
     MissingSupportPoint,
+    /// The convex-hull calculation failed because less than 3 points were provided.
+    #[error("Less than 3 points were given to the convex-hull algorithm.")]
+    IncompleteInput,
     /// Reached a piece of code we shouldn’t (internal error).
+    #[error("Internal error: unreachable code path")]
     Unreachable,
 }
-
-impl std::fmt::Display for ConvexHullError {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        match self {
-            ConvexHullError::InternalError(reason) => write!(f, "InternalError({})", reason),
-            ConvexHullError::MissingSupportPoint => write!(f, "MissingSupportPoint"),
-            ConvexHullError::Unreachable => write!(f, "Unreachable"),
-        }
-    }
-}
-
-impl std::error::Error for ConvexHullError {}