MySQL getting valid addresses within radius - mysql

Question

I am looking for a query that is able to take into account the radius limit set by restaurants and only return valid restaurants to the user. This is a little bit more complicated than a typical scenario as the radius distance is usually a static value.
This is the restaurant table that has the radius limits:
CREATE TABLE IF NOT EXISTS grabatakeaway.restaurant (
`restaurant_id` int(8) UNSIGNED AUTO_INCREMENT NOT NULL PRIMARY KEY,
`name` varchar(128) NOT NULL,
`delivery_radius` int(4) DEFAULT NULL
) ENGINE=InnoDB DEFAULT CHARSET=latin1;
The address table stores the long and lat of the addresses:
CREATE TABLE IF NOT EXISTS grabatakeaway.address (
`address_id` int(8) UNSIGNED AUTO_INCREMENT NOT NULL PRIMARY KEY,
`address` text NOT NULL,
`city` varchar(128) NOT NULL,
`state_province` varchar(128),
`zip_post` varchar(32) NOT NULL,
`latitude` float(16, 12) NOT NULL,
`longitude` float(16, 12) NOT NULL,
FOREIGN KEY (country_id) REFERENCES grabatakeaway.country(country_id)
) ENGINE=InnoDB DEFAULT CHARSET=latin1;
These tables allow a user or a restaurant to be assigned to an address
CREATE TABLE IF NOT EXISTS grabatakeaway.user_address (
`user_address_id` int(16) UNSIGNED AUTO_INCREMENT NOT NULL PRIMARY KEY,
`user_id` int(16) UNSIGNED NOT NULL,
`address_id` int(8) UNSIGNED NOT NULL,
`primary_address` tinyint(1) UNSIGNED NOT NULL DEFAULT 0,
FOREIGN KEY (user_id) REFERENCES grabatakeaway.user(user_id),
FOREIGN KEY (address_id) REFERENCES grabatakeaway.address(address_id)
) ENGINE=InnoDB DEFAULT CHARSET=latin1;
CREATE TABLE IF NOT EXISTS grabatakeaway.restaurant_address (
`restaurant_address_id` int(16) UNSIGNED AUTO_INCREMENT NOT NULL PRIMARY KEY,
`restaurant_id` int(8) UNSIGNED NOT NULL,
`address_id` int(8) UNSIGNED NOT NULL,
FOREIGN KEY (restaurant_id) REFERENCES grabatakeaway.restaurant(restaurant_id),
FOREIGN KEY (address_id) REFERENCES grabatakeaway.address(address_id)
) ENGINE=InnoDB DEFAULT CHARSET=latin1;
Anyone have any ideas on how I would approach this problem?