Code originally taken from https://code.google.com/p/jshop2-rt/ under a LGPL license. SHOP2 (see http://www.cs.umd.edu/projects/shop/) is a hierarchical task network planning algorithm. The original JSHOP2 project is a high-performance precompiled port of the SHOP2 LISP implementation. The JSHOP2-RT branch is a fork of the original JSHOP2 code that contains optimizations towards real-time planning, primarily intended for use in games. - View it on GitHub