I need to do this entirely with math, take a look at this picture:
What I'm doing is building a path finder algorithm that basically looks 30 units ahead, raycasts a few times perpendicular to the future point, finds the midpoint between the min/max vectors that found the dirt road, and puts a green cube in the middle.
I thought this would be rather simple, yet here I am trying to figure out how to plot the exact geometry of a rotated left/right projection.
I hope I explained this well enough! I'm also open to suggestions on how to do this if my approach is silly. Eventually this path will split and the algorithm has to detect the split and have the user decide which direction to go.
EDIT: After applying the math below (I opted to use the trig version) I go this result on my algorithm. THANK YOU!!!