If you drive on the wrong side of the road but mentally did not intend to hurt anyone, you still had intent to cause harm in the legal sense because of your actions.
If your drop a bowling ball off a highway overpass, intending to just miss cars and only scare people, you still had intent, because of your actions. Legally you'd be held accountable for manslaughter or even murder in some states.
Its based on your physical actions, not what your brain thought may or may not happen.
Pretend stabbing someone to scare them, but with a real knife? Murder. Legal intent. Not you personal intent.
Throwing a lit cigarette out a car window, burn down half a national forest? Your mental intent was not to burn down a million acres, but your physical intent sure as shit was.
If you are trying to protect yourself or save someone elses life, you may be able to claim self-defense or survival and get off, or get a lesser charge. That one guy who burned down California in 2004 or 2005 was trying to start a fire so he didnt freeze to death. He was lost and desperate. It wasnt a routine camping trip. He was in serious danger of death. He got a lesser charge.