diff --git a/src/query/split/split_trimesh.rs b/src/query/split/split_trimesh.rs
index 88d8a1d7..fa0e96df 100644
--- a/src/query/split/split_trimesh.rs
+++ b/src/query/split/split_trimesh.rs
@@ -2,11 +2,8 @@ use crate::bounding_volume::Aabb;
 use crate::math::{Isometry, Point, Real, UnitVector, Vector};
 use crate::query::visitors::BoundingVolumeIntersectionsVisitor;
 use crate::query::{IntersectResult, PointQuery, SplitResult};
-use crate::shape::{
-    Cuboid, FeatureId, Polyline, Segment, Shape, TriMesh, TriMeshBuilderError, TriMeshFlags,
-    Triangle,
-};
-use crate::transformation::{self, intersect_meshes, MeshIntersectionError};
+use crate::shape::{Cuboid, FeatureId, Polyline, Segment, Shape, TriMesh, TriMeshFlags, Triangle};
+use crate::transformation::{intersect_meshes, MeshIntersectionError};
 use crate::utils::{hashmap::HashMap, SortedPair, WBasis};
 use spade::{handles::FixedVertexHandle, ConstrainedDelaunayTriangulation, Triangulation as _};
 use std::cmp::Ordering;
diff --git a/src/shape/shared_shape.rs b/src/shape/shared_shape.rs
index f9f928cc..eb2beeff 100644
--- a/src/shape/shared_shape.rs
+++ b/src/shape/shared_shape.rs
@@ -209,10 +209,10 @@ impl SharedShape {
         vertices: Vec<Point<Real>>,
         indices: Vec<[u32; 3]>,
         flags: TriMeshFlags,
-    ) -> Self {
-        SharedShape(Arc::new(
-            TriMesh::with_flags(vertices, indices, flags).unwrap(),
-        ))
+    ) -> Result<Self, TriMeshBuilderError> {
+        Ok(SharedShape(Arc::new(TriMesh::with_flags(
+            vertices, indices, flags,
+        )?)))
     }
 
     /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
diff --git a/src/shape/trimesh.rs b/src/shape/trimesh.rs
index e6d0738c..923f7059 100644
--- a/src/shape/trimesh.rs
+++ b/src/shape/trimesh.rs
@@ -22,11 +22,13 @@ use crate::query::details::NormalConstraints;
 use rkyv::{bytecheck, CheckBytes};
 
 /// Indicated an inconsistency in the topology of a triangle mesh.
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(thiserror::Error, Copy, Clone, Debug, PartialEq, Eq)]
 pub enum TopologyError {
     /// Found a triangle with two or three identical vertices.
+    #[error("the triangle {0} has at least two identical vertices.")]
     BadTriangle(u32),
     /// At least two adjacent triangles have opposite orientations.
+    #[error("the triangles {triangle1} and {triangle2} sharing the edge {:?} have opposite orientations.", edge)]
     BadAdjacentTrianglesOrientation {
         /// The first triangle, with an orientation opposite to the second triangle.
         triangle1: u32,
@@ -37,45 +39,17 @@ pub enum TopologyError {
     },
 }
 
-impl fmt::Display for TopologyError {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        match self {
-            Self::BadTriangle(fid) => {
-                f.pad(&format!("the triangle {fid} has at least two identical vertices."))
-            }
-            Self::BadAdjacentTrianglesOrientation {
-                triangle1,
-                triangle2,
-                edge,
-            } => f.pad(&format!("the triangles {triangle1} and {triangle2} sharing the edge {:?} have opposite orientations.", edge)),
-        }
-    }
-}
-
-impl std::error::Error for TopologyError {}
-
 /// Indicated an inconsistency while building a triangle mesh.
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(thiserror::Error, Copy, Clone, Debug, PartialEq, Eq)]
 pub enum TriMeshBuilderError {
     /// A triangle mesh must contain at least one triangle.
+    #[error("A triangle mesh must contain at least one triangle.")]
     EmptyIndices,
     /// Indicated an inconsistency in the topology of a triangle mesh.
+    #[error("Topology Error: {0}")]
     TopologyError(TopologyError),
 }
 
-impl fmt::Display for TriMeshBuilderError {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        match self {
-            Self::EmptyIndices => f.pad(&format!(
-                "A triangle mesh must contain at least one triangle."
-            )),
-            Self::TopologyError(topology_error) => topology_error.fmt(f),
-        }
-    }
-}
-
-impl std::error::Error for TriMeshBuilderError {}
-
 /// The set of pseudo-normals of a triangle mesh.
 ///
 /// These pseudo-normals are used for the inside-outside test of a
diff --git a/src/transformation/mesh_intersection/mesh_intersection_error.rs b/src/transformation/mesh_intersection/mesh_intersection_error.rs
index d067fcc2..13904c3b 100644
--- a/src/transformation/mesh_intersection/mesh_intersection_error.rs
+++ b/src/transformation/mesh_intersection/mesh_intersection_error.rs
@@ -1,38 +1,28 @@
-use core::fmt;
-
 use crate::shape::TriMeshBuilderError;
 
 /// Error indicating that a query is not supported between certain shapes
-#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+#[derive(thiserror::Error, Debug, Copy, Clone, Eq, PartialEq)]
 pub enum MeshIntersectionError {
+    /// At least one of the meshes is missing its topology information. Call `mesh.compute_topology` on the mesh
+    #[error("at least one of the meshes is missing its topology information. Call `mesh.compute_topology` on the mesh")]
     MissingTopology,
+    /// At least one of the meshes is missing its pseudo-normals. Call `mesh.compute_pseudo_normals` on the mesh
+    #[error("at least one of the meshes is missing its pseudo-normals. Call `mesh.compute_pseudo_normals` on the mesh")]
     MissingPseudoNormals,
+    /// Internal failure while intersecting two triangles
+    #[error("internal failure while intersecting two triangles")]
     TriTriError,
+    /// Internal failure while merging faces resulting from intersections
+    #[error("internal failure while merging faces resulting from intersections")]
     DuplicateVertices,
+    /// Internal failure while triangulating an intersection face
+    #[error("internal failure while triangulating an intersection face")]
     TriangulationError,
+    /// See [`TriMeshBuilderError`]
+    #[error("TriMeshBuilderError: {0}")]
     TriMeshBuilderError(TriMeshBuilderError),
 }
 
-impl fmt::Display for MeshIntersectionError {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        match self {
-            Self::MissingTopology => {
-                f.pad("at least one of the meshes is missing its topology information. Call `mesh.compute_topology` on the mesh")
-            }
-            Self::MissingPseudoNormals => {
-                f.pad("at least one of the meshes is missing its pseudo-normals. Call `mesh.compute_pseudo_normals` on the mesh")
-            }
-            Self::TriTriError => f.pad("internal failure while intersecting two triangles"),
-            Self::DuplicateVertices => f.pad("internal failure while merging faces resulting from intersections"),
-            Self::TriangulationError => f.pad("internal failure while triangulating an intersection face"),
-            Self::TriMeshBuilderError(error) => error.fmt(f),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl std::error::Error for MeshIntersectionError {}
-
 impl From<TriMeshBuilderError> for MeshIntersectionError {
     fn from(value: TriMeshBuilderError) -> Self {
         MeshIntersectionError::TriMeshBuilderError(value)