Merge branch 'master' of https://github.com/worklist/hifi
Merge remote-tracking branch 'upstream/master'
Made JointState transforms private.

Also changed some function names to be more descriptive.
Using "Hybrid" to describe frame with world-rotation + model-local-origin.
merge andrew/inertia into andrew/ragdoll

Conflicts:
	interface/src/avatar/Avatar.cpp
	interface/src/renderer/Model.h
remove 'fromBind' argument to getJointRotation()
unravel rotation code by giving proper names

The goal is: eliminate dependency on JointState::_combinedRotation
(which is joint-to-world) and store joint-to-model transforms instead
Merge branch 'master' of https://github.com/worklist/hifi
rolling back previous change for IK instability
Add joint manipulations in model-frame
Add more model-frame methods
remove world-frame hand/palm set methods
remove JointState::getJointRotation()

(use getRotationModelFrame() instead)
remove JointState::applyRotationDelta()

(use JointState::applyRotationDeltaInModelFrame()) instead)
Fix crazylegs.js to newer joint names
starting fist squeezing
Merge remote-tracking branch 'upstream/master'
FinalOrientation -> FinalOrientationInWorldFrame
remove some JointState::getHybridTransform() calls
getJointPosition -> getJointPositionInWorldFrame
remove more getHybridTransform() calls