Updated code and tests to mirror C# 0.3.1 version.

Updated Readme.md.

readme.md

@@ -10,7 +10,8 @@
 * Easy to extend.
 * Uses a Factory interface internally to create and free tables/queues/stacks/objects, allowing for pooling, or other memory management schemes.
 * Decomposition logging, for debugging.
-* Minimal MWSE dependency, allowing for easy porting to OpenMW (official port to come).
+* Minimal dependency, allowing for easy importing to MWSE, OpenMW, LÖVE, Defold, Roblox, etc.
+* 148 unit tests.
 
 ## Concepts
 
@@ -185,6 +186,65 @@ Get B
 Get C
 Done
 ```
+## Partial Planning
+
+We can easily integrate the concept of partial planning into our domains. We call it a Pause Plan, and it must be within a sequence to be valid. It allows the planner to only plan up to a certain step, then continue from once the partial plan has been completed.
+
+```lua
+:Sequence("A")
+    :Action("1")
+        --...
+    :End()
+    :PausePlan()
+    :Action("2")
+        --...
+    :End()
+:End()
+```
+
+## Sub-Domains
+
+### Splicing
+
+We can define sub-domains and splice them together to form new domains, but they must share the same context type to be compatible. This is useful for sharing sub-domains between larger domains and to make larger domains more legible.
+
+```lua
+local subDomain = DomainBuilder:new(MyContext, "SubDomain")
+    :Select("B")
+        --...
+    :End()
+    :Build();
+
+local myDomain = DomainBuilder:new(MyContext, "MyDomain")
+    :Select("A")
+        --...
+    :End()
+    :Splice(subDomain)
+    :Select("C")
+        --...
+    :End()
+    :Build();
+```
+
+### Slots
+
+We can define slots in our domains, and mark them with unique ids. This allow us to hook up sub-domains at run-time. This can be useful for smart objects that extend the behaviour of an agent.
+
+```lua
+local subDomain = DomainBuilder:new(MyContext, "SubDomain")
+    .Select("B")
+        //...
+    .End()
+    .Build();
+
+local myDomain = DomainBuilder:new(MyContext, "MyDomain")
+    .Slot(1)
+    .Build();
+
+myDomain.TrySetSlotDomain(1, subDomain);
+//...
+myDomain.ClearSlot(1);
+```
 
 ## Extensions
 

sb_htn/BaseDomainBuilder.lua

@@ -68,11 +68,11 @@ end
 ---@param task ICompoundTask
 ---@return BaseDomainBuilder
 function BaseDomainBuilder:CompoundTask(name, task)
-    assert(task ~= nil, "task")
+    assert(task, "task")
     assert(self:Pointer():isInstanceOf(ICompoundTask),
         "Pointer is not a compound task type. Did you forget an End() after a Primitive Task Action was defined?")
     task.Name = name
-    self._domain.AddTask(self:Pointer(), task)
+    self._domain:AddTask(self:Pointer(), task)
     table.insert(self._pointers, task)
     return self
 end
@@ -90,7 +90,7 @@ function BaseDomainBuilder:PrimitiveTask(name, P)
         "Pointer is not a compound task type. Did you forget an End() after a Primitive Task Action was defined?")
     local parent = P:new()
     parent.Name = name
-    self._domain.AddTask(self:Pointer(), parent)
+    self._domain:AddTask(self:Pointer(), parent)
     table.insert(self._pointers, parent)
 
     return self
@@ -109,7 +109,7 @@ function BaseDomainBuilder:PausePlanTask()
         "Pointer is not a decompose-all compound task type, like a Sequence. Maybe you tried to Pause Plan a Selector, or forget an End() after a Primitive Task Action was defined?")
     local parent = PausePlanTask:new()
     parent.Name = "Pause Plan"
-    self._domain.AddTask(self:Pointer(), parent)
+    self._domain:AddTask(self:Pointer(), parent)
 
     return self
 end
@@ -208,7 +208,7 @@ end
 ---@return BaseDomainBuilder
 function BaseDomainBuilder:Splice(domain)
     assert(self:Pointer():isInstanceOf(ICompoundTask), "Pointer is not a compound task type. Did you forget an End()?")
-    self._domain.AddTask(self:Pointer(), domain.Root)
+    self._domain:AddTask(self:Pointer(), domain.Root)
 
     return self
 end

sb_htn/Conditions/FuncCondition.lua

@@ -23,8 +23,7 @@ function FuncCondition:IsValid(ctx)
     assert(ctx:isInstanceOf(self.T), "Unexpected context type!")
     local result = self.Func and self.Func(ctx) or false
     if (ctx.LogDecomposition) then
-        print(string.format("FuncCondition.IsValid:%s\n\t- %i", result and "True" or "False",
-            ctx.CurrentDecompositionDepth + 1))
+        log("%i - FuncCondition.IsValid:%s", ctx.CurrentDecompositionDepth + 1, result and "True" or "False")
     end
     return result
 end

sb_htn/Contexts/BaseContext.lua

@@ -20,6 +20,8 @@ function BaseContext:initialize()
     self.CurrentDecompositionDepth = 0
     ---@type IFactory
     self.Factory = nil
+    ---@type IPlannerState
+    self.PlannerState = nil
     ---@type table<integer>
     self.MethodTraversalRecord = {}
     ---@type table<integer>

sb_htn/Contexts/IContext.lua

@@ -33,6 +33,8 @@ function IContext:initialize()
 
     ---@type IFactory
     self.Factory = nil
+    ---@type IPlannerState
+    self.PlannerState = nil
 
     --- The Method Traversal Record is used while decomposing a domain and
     --- records the valid decomposition indices as we go through our
@@ -74,7 +76,7 @@ function IContext:initialize()
     ---@type boolean
     self.LogDecomposition = nil
 
-    ---@type Queue PartialPlanEntry
+    ---@type Queue<PartialPlanEntry>
     self.PartialPlanQueue = nil
 
     ---@type boolean