Hierarchical task network planner

TO-DO

• Basic building blocks
  • Primitive Tasks
  • Compound Tasks
• Override Brain Component
  • Handle world state
  • Handle tasks
  • Handle domain
  • Handle messages
• Planner
  • Basic planning
  • Restore points
• Planner runner
  • Multi thread or distributed in multiple frames?
  • Plan queue
• Observe world state changes for re-plan
  • Implement basic observers
  • Add filter to observe only relevant tasks

Improvements

• Custom instancing of domain
  • Give each task a separate memory as behavior trees
• Partial planning
  • Tasks that let the planner pause
• Sub domains -> execute domains inside other domains
• Slots -> insert domains dynamically
• Support to run multiple HTNs in the same AI
• Custom editor for domain construction
• GOAP planning support