DSL for HTN declaration.

Domain.cs

public class AI
{
  Domain CreateDomain()
  {
      using (domain = Domain.New())
      {
          worldState = DefineWorldState(health, fuel, speed, angularSpeed);

          DefinePrimitiveTask(SetRandomDestination);
          DefinePrimitiveTask(MoveToDestination)
              .Conditions(angularSpeed < 1)
              .Conditions(speed < 50);
          DefinePrimitiveTask(SetAutoPilotDestination);
          DefinePrimitiveTask(autoPilot.Pause);
          DefinePrimitiveTask(autoPilot.Resume);
          DefinePrimitiveTask(shipMotor.EnableRotationalDamping)
              .Effects(angularSpeed.Set(0));
          DefinePrimitiveTask(shipMotor.DisableRotationalDamping);
          DefinePrimitiveTask(shipMotor.EnableTranslationDamping)
              .Effects(speed.Set(0));
          DefinePrimitiveTask(shipMotor.DisableTranslationDamping);

          DefineCompoundTask("Main")
              .DefineMethod("MoveSomewhereRandom")
                  .Conditions(health > 1, angularSpeed < 1)
                  .Tasks(shipMotor.DisableRotationalDamping, shipMotor.DisableTranslationDamping, SetRandomDestination, SetAutoPilotDestination, autoPilot.Resume, MoveToDestination)
              .DefineMethod("StopSpinning")
                  .Conditions(angularSpeed > 1, speed < 50)
                  .Tasks(autoPilot.Pause, shipMotor.EnableRotationalDamping)
              .DefineMethod("StopMoving")
                  .Conditions(speed > 50)
                  .Tasks(autoPilot.Pause, shipMotor.EnableTranslationDamping);

          SetRootTask("Main");
          return domain;
      }
  }
}