diff --git a/Source/ThirdParty/recastnavigation/DetourCommon.cpp b/Source/ThirdParty/recastnavigation/DetourCommon.cpp
index b89d7512c..7abdff072 100644
--- a/Source/ThirdParty/recastnavigation/DetourCommon.cpp
+++ b/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;
diff --git a/Source/ThirdParty/recastnavigation/DetourCommon.h b/Source/ThirdParty/recastnavigation/DetourCommon.h
index 113e8c336..a2597f3a2 100644
--- a/Source/ThirdParty/recastnavigation/DetourCommon.h
+++ b/Source/ThirdParty/recastnavigation/DetourCommon.h
@@ -417,6 +417,8 @@ 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]
diff --git a/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp b/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp
index 8ea09c823..1e519d211 100644
--- a/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp
+++ b/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp
@@ -482,12 +482,15 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
 		dtVcopy(&verts[j*3],v);
 	}
 	
-	const float s = frand();
-	const float t = frand();
-	
 	float pt[3];
-	dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
-	
+    do
+    {
+        const float s = frand();
+	    const float t = frand();
+	    dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
+    }
+	while (dtDistancePtPtSqr2D(centerPos, pt) > radiusSqr);
+
 	float h = 0.0f;
 	dtStatus stat = getPolyHeight(randomPolyRef, pt, &h);
 	if (dtStatusFailed(status))