##DESCRIPTION
Some more cleanup over the main ragdoll controller class was done.
-Responsibilities over ownership of locomotion, parts, input handling,joint rotation base state and joints handling were removed from the main class and into specialized classes.
-Cleanup over the Center of mass calculation routine was done
-Minor optimizations over the feet and hand logic were applied
-Overall a dependency injection approach was taken.
-Some sections and methods were marked in order to provide detail on where the code still needs optimizing or cleanups.