Allow unencrypted children of encrypted datasets

When encryption was first added to ZFS, we made a decision to
prevent users from creating unencrypted children of encrypted
datasets. The idea was to prevent users from inadvertently
leaving some of their data unencrypted. However, since the
release of 0.8.0, some legitimate reasons have been brought up
for this behavior to be allowed. This patch simply removes this
limitation from all code paths that had checks for it and updates
the tests accordingly.

Reviewed-by: Jason King <jason.king@joyent.com>
Reviewed-by: Sean Eric Fagan <sef@ixsystems.com>
Reviewed-by: Richard Laager <rlaager@wiktel.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Tom Caputi <tcaputi@datto.com>
Closes #8737
Closes #8870