Reapply e218cc417f but a little better

Source/ThirdParty/recastnavigation/DetourCommon.cpp

@@ -183,6 +183,13 @@ float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, floa
 	return dx*dx + dz*dz;
 }
 
+float dtDistancePtPtSqr2D(const float* pt, const float* p)
+{
+	float dx = pt[0] - p[0];
+	float dz = pt[2] - p[2];
+	return dx*dx + dz*dz;
+}
+
 void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts)
 {
 	tc[0] = 0.0f;

Source/ThirdParty/recastnavigation/DetourCommon.h

@@ -416,6 +416,8 @@ bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nve
 
 float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t);
 
+float dtDistancePtPtSqr2D(const float* pt, const float* p);
+
 /// Derives the centroid of a convex polygon.
 ///  @param[out]	tc		The centroid of the polgyon. [(x, y, z)]
 ///  @param[in]		idx		The polygon indices. [(vertIndex) * @p nidx]

Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp

@@ -482,12 +482,18 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
 		v = &randomTile->verts[randomPoly->verts[j]*3];
 		dtVcopy(&verts[j*3],v);
 	}
-	
+
-	const float s = frand();
-	const float t = frand();
-	
 	float pt[3];
-	dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
+    int checksLimit = 100;
+    do
+    {
+        const float s = frand();
+        const float t = frand();
+        dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
+    }
+    while (dtDistancePtPtSqr2D(centerPos, pt) > radiusSqr && checksLimit-- > 0);
+    if (checksLimit <= 0)
+        return DT_FAILURE;
 	
 	closestPointOnPoly(randomPolyRef, pt, pt, NULL);