Redesigned moudule system

* Top level private APIs (e.g. jasmine.private.whatever) are no longer
  exposed
* jasmineRequire is no longer exposed
* core is self-booting
* Globals are automatically created in browsers. (They can subsequently
  be removed by user code if desired.)
* Globals are *not* automatically created in Node. An installGlobals
  function is exported instead. The jasmine package calls installGlobals
  unless configured not to do so.
* In Node, the same instance is returned each time jasmine-core is
  imported. A reset function is exported. It effectively resets all state
  by discarding the env and creating a new one. This allows mulitple
  sequential runs within the same process to be independent of each
  other, but does not allow multiple concurrent runs. (That probably never
  worked anyway.)

Fixes #2094

spec/core/integration/EnvSpec.js

@@ -1289,9 +1289,7 @@ describe('Env integration', function() {
       await env.execute();
       expect(reporter.specDone).toHaveBeenCalledTimes(1);
       const event = reporter.specDone.calls.argsFor(0)[0];
-      jasmine.debugLog(
-        'Spec result: ' + jasmine.private.basicPrettyPrinter(event)
-      );
+      jasmine.debugLog('Spec result: ' + jasmine.pp(event));
       expect(event).toEqual(jasmine.objectContaining({ status: 'passed' }));
       jasmine.clock().tick(1);