// make sure boundary allows line-of-sight passage between waypoints!
// boundary = pts={0,0:0,-145:95,-145:95,0:45,0}   
// bow tie!
boundary = pts={-50,-20:0,-20:50,-55:100,-55:150,-20:200,-20:200,-145:150,-145:100,-105:50,-105:0,-145:-50,-145:-50,-20}