Hi Harvey,
I don't think there is an existing MiniZinc global constraint
specifically for this use case.
However, your problem (in particular the existence of a compactness
requirement) reminds me of the sectorisation of airspace for air
traffic control. Some of my former colleagues have worked on that
problem and you might find some inspiration in their work, in order
to build your own MiniZinc predicate and model. Here is a link to
their paper:
https://arxiv.org/abs/1401.7463
Have a look in particular at sections 5.1 (connectedness) and 5.2
(compactness).
Best,
Jean-Noël