Dan Albert 783ac18222 Replace existing campaign planner with an HTN.
An HTN (https://en.wikipedia.org/wiki/Hierarchical_task_network) is
similar to a decision tree, but it is able to reset to an earlier stage
if a subtask fails and tasks are able to account for the changes in
world state caused by earlier tasks.

Currently this just uses exactly the same strategy as before so we can
prove the system, but it should make it simpler to improve on task
planning.
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