generateBezierCurve

This generates the Bezier curve. It assumes that the ArrayList of control points has been set. Well, this actually generates the coefficients for each control point on the Bezier curve. These coefficients can then be used to calculate a position, velocity, or accleration on the Bezier curve on the fly without much computational expense. See https://en.wikipedia.org/wiki/Bézier_curve for the explicit formula for Bezier curves