diff --git a/Cargo.lock b/Cargo.lock
index 30b19d57..23b18a15 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -480,6 +480,15 @@ dependencies = [
  "system-deps",
 ]
 
+[[package]]
+name = "atomic-polyfill"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "atomic-waker"
 version = "1.1.2"
@@ -1903,6 +1912,12 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "critical-section"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.8"
@@ -2069,6 +2084,16 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
 
+[[package]]
+name = "earcutr"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "79127ed59a85d7687c409e9978547cffb7dc79675355ed22da6b66fd5f6ead01"
+dependencies = [
+ "itertools",
+ "num-traits",
+]
+
 [[package]]
 name = "ecolor"
 version = "0.22.0"
@@ -2513,6 +2538,44 @@ dependencies = [
  "version_check",
 ]
 
+[[package]]
+name = "geo"
+version = "0.27.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4841b40fdbccd4b7042bd6195e4de91da54af34c50632e371bcbfcdfb558b873"
+dependencies = [
+ "earcutr",
+ "float_next_after",
+ "geo-types",
+ "geographiclib-rs",
+ "log",
+ "num-traits",
+ "robust",
+ "rstar",
+ "spade",
+]
+
+[[package]]
+name = "geo-types"
+version = "0.7.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "567495020b114f1ce9bed679b29975aa0bfae06ac22beacd5cfde5dabe7b05d6"
+dependencies = [
+ "approx",
+ "num-traits",
+ "rstar",
+ "serde",
+]
+
+[[package]]
+name = "geographiclib-rs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ea804e7bd3c6a4ca6a01edfa35231557a8a81d4d3f3e1e2b650d028c42592be"
+dependencies = [
+ "lazy_static",
+]
+
 [[package]]
 name = "gethostname"
 version = "0.2.3"
@@ -2840,6 +2903,15 @@ dependencies = [
  "surf",
 ]
 
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.12.3"
@@ -2872,6 +2944,19 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "heapless"
+version = "0.7.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
+dependencies = [
+ "atomic-polyfill",
+ "hash32",
+ "rustc_version 0.4.0",
+ "spin",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heck"
 version = "0.3.3"
@@ -3459,58 +3544,6 @@ dependencies = [
  "value-bag",
 ]
 
-[[package]]
-name = "lyon"
-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91e7f9cda98b5430809e63ca5197b06c7d191bf7e26dfc467d5a3f0290e2a74f"
-dependencies = [
- "lyon_algorithms",
- "lyon_tessellation",
-]
-
-[[package]]
-name = "lyon_algorithms"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "00a0349cd8f0270781bb93a824b63df6178e3b4a27794e7be3ce3763f5a44d6e"
-dependencies = [
- "lyon_path",
- "num-traits",
-]
-
-[[package]]
-name = "lyon_geom"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74df1ff0a0147282eb10699537a03baa7d31972b58984a1d44ce0624043fe8ad"
-dependencies = [
- "arrayvec",
- "euclid",
- "num-traits",
-]
-
-[[package]]
-name = "lyon_path"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca507745ba7ccbc76e5c44e7b63b1a29d2b0d6126f375806a5bbaf657c7d6c45"
-dependencies = [
- "lyon_geom",
- "num-traits",
-]
-
-[[package]]
-name = "lyon_tessellation"
-version = "1.0.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23bcac20d47825850fabf1e869bf7c2bbe2daefa0776c3cd2eb7cb74635f6e4a"
-dependencies = [
- "float_next_after",
- "lyon_path",
- "thiserror",
-]
-
 [[package]]
 name = "mach2"
 version = "0.4.1"
@@ -4596,9 +4629,9 @@ dependencies = [
  "crossbeam-channel",
  "dirs",
  "futures-lite 1.13.0",
+ "geo",
  "gz-fuel",
  "itertools",
- "lyon",
  "pathdiff",
  "rfd",
  "rmf_site_format",
@@ -4635,6 +4668,12 @@ dependencies = [
  "uuid",
 ]
 
+[[package]]
+name = "robust"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+
 [[package]]
 name = "rodio"
 version = "0.17.3"
@@ -4657,6 +4696,17 @@ dependencies = [
  "serde_derive",
 ]
 
+[[package]]
+name = "rstar"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73111312eb7a2287d229f06c00ff35b51ddee180f017ab6dec1f69d62ac098d6"
+dependencies = [
+ "heapless",
+ "num-traits",
+ "smallvec",
+]
+
 [[package]]
 name = "rustc-demangle"
 version = "0.1.23"
@@ -4675,7 +4725,16 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver",
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+dependencies = [
+ "semver 1.0.21",
 ]
 
 [[package]]
@@ -4781,6 +4840,12 @@ dependencies = [
  "semver-parser",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b97ed7a9823b74f99c7742f5336af7be5ecd3eeafcb1507d1fa93347b1d589b0"
+
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
@@ -5019,6 +5084,27 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "spade"
+version = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61addf9117b11d1f5b4bf6fe94242ba25f59d2d4b2080544b771bd647024fd00"
+dependencies = [
+ "hashbrown 0.14.2",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
 [[package]]
 name = "spinning_top"
 version = "0.2.5"
@@ -5038,6 +5124,12 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
 [[package]]
 name = "standback"
 version = "0.2.17"
@@ -5060,7 +5152,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d022496b16281348b52d0e30ae99e01a73d737b2f45d38fed4edf79f9325a1d5"
 dependencies = [
  "discard",
- "rustc_version",
+ "rustc_version 0.2.3",
  "stdweb-derive",
  "stdweb-internal-macros",
  "stdweb-internal-runtime",
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index 96173862..cc64be29 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -34,7 +34,7 @@ bevy = { version = "0.11", features = ["pnm", "jpeg", "tga"] }
 bevy_utils = "0.11"
 dirs = "5.0"
 thread_local = "*"
-lyon = "1"
+geo = "0.27"
 thiserror = "*"
 rmf_site_format = { path = "../rmf_site_format", features = ["bevy"] }
 itertools = "*"
diff --git a/rmf_site_editor/src/site/floor.rs b/rmf_site_editor/src/site/floor.rs
index 8db208d4..053f816e 100644
--- a/rmf_site_editor/src/site/floor.rs
+++ b/rmf_site_editor/src/site/floor.rs
@@ -21,10 +21,9 @@ use bevy::{
     prelude::*,
     render::mesh::{Indices, PrimitiveTopology},
 };
-use lyon::{
-    math::point,
-    path::Path as LyonPath,
-    tessellation::{geometry_builder::simple_builder, *},
+use geo::{
+    geometry::{LineString, MultiPolygon, Polygon},
+    BooleanOps, CoordsIter, TriangulateSpade,
 };
 use rmf_site_format::{FloorMarker, Path, Texture};
 
@@ -70,6 +69,7 @@ fn make_floor_mesh(
     anchor_path: &Path<Entity>,
     texture: &Texture,
     anchors: &AnchorParams,
+    lifts: &Query<(&Transform, &LiftCabin<Entity>)>,
 ) -> Mesh {
     if anchor_path.len() == 0 {
         return Mesh::new(PrimitiveTopology::TriangleList);
@@ -99,71 +99,83 @@ fn make_floor_mesh(
             .into();
     }
 
-    let mut builder = LyonPath::builder();
-    let mut first = true;
-    let mut valid = true;
     let mut reference_positions = Vec::new();
+    let mut valid = true;
     for anchor in &anchor_path.0 {
-        let p = match anchors.point_in_parent_frame_of(*anchor, Category::Floor, entity) {
-            Ok(a) => a,
+        match anchors.point_in_parent_frame_of(*anchor, Category::Floor, entity) {
+            Ok(p) => reference_positions.push(p.to_array()),
             Err(_) => {
                 error!("Failed to find anchor {anchor:?} used by a path");
                 valid = false;
                 continue;
             }
         };
-
-        reference_positions.push(p.to_array());
-        if first {
-            first = false;
-            builder.begin(point(p.x, p.y));
-        } else {
-            builder.line_to(point(p.x, p.y));
-        }
     }
+    let mut polygon = MultiPolygon::from(Polygon::new(
+        LineString::from(
+            reference_positions
+                .iter()
+                .map(|p| [p[0], p[1]])
+                .collect::<Vec<_>>(),
+        ),
+        vec![],
+    ));
     let outline_buffer = make_closed_path_outline(reference_positions);
 
     if !valid {
         return make_fallback_floor_mesh_near_path(entity, anchor_path, anchors);
     }
-
-    builder.close();
-    let path = builder.build();
-
-    let mut buffers = VertexBuffers::new();
-    {
-        let mut vertex_builder = simple_builder(&mut buffers);
-        let mut tessellator = FillTessellator::new();
-        let result = tessellator.tessellate_path(
-            path.as_slice(),
-            &FillOptions::default(),
-            &mut vertex_builder,
-        );
-
-        match result {
-            Err(err) => {
-                error!("Failed to render floor: {err}");
-                return make_fallback_floor_mesh_near_path(entity, anchor_path, anchors);
-            }
-            _ => {}
+    // Subtract all the lift cabin AABBs
+    for (tf, cabin) in lifts.iter() {
+        let to_subtract = match cabin {
+            LiftCabin::Rect(params) => {
+                let w = params.thickness();
+                let gap_for_door = |d: &Option<LiftCabinDoorPlacement<Entity>>| -> f32 {
+                    d.and_then(|d| d.custom_gap).unwrap_or(params.gap()) + w
+                };
+                let aabb = params.aabb();
+                let tf_cabin = *tf * Transform::from_translation(aabb.center.into());
+                let front_gap = gap_for_door(&params.front_door);
+                let right_gap = gap_for_door(&params.right_door);
+                let back_gap = gap_for_door(&params.back_door);
+                let left_gap = gap_for_door(&params.left_door);
+                let he = aabb.half_extents;
+                let he0 = Vec3::new(he.x + front_gap, he.y + left_gap, 0.0);
+                let he1 = Vec3::new(he.x + front_gap, -he.y - right_gap, 0.0);
+                let he2 = Vec3::new(-he.x - back_gap, -he.y - right_gap, 0.0);
+                let he3 = Vec3::new(-he.x - back_gap, he.y + left_gap, 0.0);
+                let p0 = tf_cabin.transform_point(he0);
+                let p1 = tf_cabin.transform_point(he1);
+                let p2 = tf_cabin.transform_point(he2);
+                let p3 = tf_cabin.transform_point(he3);
+                Polygon::new(
+                    LineString::from(vec![[p0.x, p0.y], [p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y]]),
+                    vec![],
+                )
+            } // When new lift types are added, add their footprint calculation here.
+        };
+        polygon = polygon.difference(&to_subtract.into());
+    }
+    let mut positions: Vec<[f32; 3]> = Vec::new();
+    for polygon in polygon.iter() {
+        let Ok(triangles) = polygon.constrained_triangulation(Default::default()) else {
+            warn!("Failed triangulating lift floor hole");
+            continue;
+        };
+        positions.reserve(triangles.len() * 3);
+        for triangle in triangles.iter() {
+            positions.extend(triangle.coords_iter().map(|v| [v.x, v.y, 0.]));
         }
     }
 
     let texture_width = texture.width.unwrap_or(1.0);
     let texture_height = texture.height.unwrap_or(1.0);
-    let positions: Vec<[f32; 3]> = buffers.vertices.iter().map(|v| [v.x, v.y, 0.]).collect();
-    let normals: Vec<[f32; 3]> = buffers.vertices.iter().map(|_| [0., 0., 1.]).collect();
-    let uv: Vec<[f32; 2]> = buffers
-        .vertices
+    let indices = (0..positions.len() as u32).collect();
+    let normals: Vec<[f32; 3]> = positions.iter().map(|_| [0., 0., 1.]).collect();
+    let uv: Vec<[f32; 2]> = positions
         .iter()
-        .map(|v| [v.x / texture_width, v.y / texture_height])
+        .map(|v| [v[0] / texture_width, v[1] / texture_height])
         .collect();
-    for i in 0..buffers.indices.len() / 3 {
-        let i1 = 3 * i + 1;
-        let i2 = 3 * i + 2;
-        buffers.indices.swap(i1, i2);
-    }
-    let indices = buffers.indices.drain(..).map(|v| v as u32).collect();
 
     MeshBuffer::new(positions, normals, indices)
         .with_uv(uv)
@@ -224,11 +236,12 @@ pub fn add_floor_visuals(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
     default_floor_vis: Query<(&GlobalFloorVisibility, &RecencyRanking<DrawingMarker>)>,
+    lifts: Query<(&Transform, &LiftCabin<Entity>)>,
 ) {
     for (e, new_floor, texture_source, rank, vis, parent) in &floors {
         let (base_color_texture, texture) = from_texture_source(texture_source, &textures);
 
-        let mesh = make_floor_mesh(e, new_floor, &texture, &anchors);
+        let mesh = make_floor_mesh(e, new_floor, &texture, &anchors, &lifts);
         let height = floor_height(rank);
         let default_vis = parent
             .map(|p| default_floor_vis.get(p.get()).ok())
@@ -296,13 +309,14 @@ pub fn update_floors_for_moved_anchors(
     >,
     mut mesh_assets: ResMut<Assets<Mesh>>,
     mut mesh_handles: Query<&mut Handle<Mesh>>,
+    lifts: Query<(&Transform, &LiftCabin<Entity>)>,
 ) {
     for dependents in &changed_anchors {
         for dependent in dependents.iter() {
             if let Some((e, segments, path, texture_source)) = floors.get(*dependent).ok() {
                 let (_, texture) = from_texture_source(texture_source, &textures);
                 if let Ok(mut mesh) = mesh_handles.get_mut(segments.mesh) {
-                    *mesh = mesh_assets.add(make_floor_mesh(e, path, &texture, &anchors));
+                    *mesh = mesh_assets.add(make_floor_mesh(e, path, &texture, &anchors, &lifts));
                 }
             }
         }
@@ -328,6 +342,7 @@ pub fn update_floors(
     material_handles: Query<&Handle<StandardMaterial>>,
     anchors: AnchorParams,
     textures: Query<(Option<&Handle<Image>>, &Texture)>,
+    lifts: Query<(&Transform, &LiftCabin<Entity>)>,
 ) {
     for e in changed_floors.iter().chain(
         changed_texture_sources
@@ -340,7 +355,7 @@ pub fn update_floors(
         let (base_color_texture, texture) = from_texture_source(texture_source, &textures);
         if let Ok(mut mesh) = mesh_handles.get_mut(segment.mesh) {
             if let Ok(material) = material_handles.get(segment.mesh) {
-                *mesh = meshes.add(make_floor_mesh(e, path, &texture, &anchors));
+                *mesh = meshes.add(make_floor_mesh(e, path, &texture, &anchors, &lifts));
                 if let Some(mut material) = materials.get_mut(material) {
                     material.base_color_texture = base_color_texture;
                 }
@@ -349,6 +364,33 @@ pub fn update_floors(
     }
 }
 
+pub fn update_floors_for_changed_lifts(
+    lifts: Query<(&Transform, &LiftCabin<Entity>)>,
+    changed_lifts: Query<
+        (),
+        Or<(
+            Changed<LiftCabin<Entity>>,
+            (With<LiftCabin<Entity>>, Changed<GlobalTransform>),
+        )>,
+    >,
+    removed_lifts: RemovedComponents<LiftCabin<Entity>>,
+    floors: Query<(Entity, &FloorSegments, &Path<Entity>, &Affiliation<Entity>), With<FloorMarker>>,
+    anchors: AnchorParams,
+    textures: Query<(Option<&Handle<Image>>, &Texture)>,
+    mut mesh_assets: ResMut<Assets<Mesh>>,
+    mut mesh_handles: Query<&mut Handle<Mesh>>,
+) {
+    if changed_lifts.is_empty() && removed_lifts.is_empty() {
+        return;
+    }
+    for (e, segments, path, texture_source) in floors.iter() {
+        let (_, texture) = from_texture_source(texture_source, &textures);
+        if let Ok(mut mesh) = mesh_handles.get_mut(segments.mesh) {
+            *mesh = mesh_assets.add(make_floor_mesh(e, path, &texture, &anchors, &lifts));
+        }
+    }
+}
+
 #[inline]
 fn iter_update_floor_visibility<'a>(
     iter: impl Iterator<
diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
index fbd3c96c..03852f55 100644
--- a/rmf_site_editor/src/site/mod.rs
+++ b/rmf_site_editor/src/site/mod.rs
@@ -338,7 +338,7 @@ impl Plugin for SitePlugin {
                 add_floor_visuals,
                 update_floors,
                 update_floors_for_moved_anchors,
-                update_floors,
+                update_floors_for_changed_lifts,
                 update_floor_visibility,
                 update_drawing_visibility,
                 add_lane_visuals,