The code is here, feel free to look through the math:
RoCurve Source Code - Pastebin.com
It uses Bezier Curves, which you can read about Here . Just let me know if you have any other questions 
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The code is here, feel free to look through the math:
RoCurve Source Code - Pastebin.com
It uses Bezier Curves, which you can read about Here . Just let me know if you have any other questions