AH-414 Added a first prototype of look at IK

TODO: Testing and maybe (hopefully not) fixing
AH-414 Fixed some double initializations
AH-414 The ultimate neck crack
AH-414 Some clean up of the 1 joint IK code

Still not desired behavior.
AH-414 More cleanup and error source found

On to fix it tomorrow
AH-414 Head turns with mouse movement

TODO: Unlock body from same x-z-plane turns as head.
AH-414 Delayed body rotation when not running
AH-414 Pausing
Merge with Master/Origin
Merge branch 'master' of https://github.com/Torkelz/Havenborough