Update rpm/deb packages to be FHS compliant

This change is the first step towards updating the default
rpm/deb packages to be FHS compliant. It accomplishes this
by passing the following options to ./configure to ensure the
zfs build products are installed in FHS compliant locations.

./configure --prefix=/ --bindir=/lib/udev \
  --libexecdir=/usr/libexec --datadir=/usr/share

The core zfs utilities (zfs, zpool, zdb) are now be installed
in /sbin, the core libraries in /lib, and the udev helpers
(zpool_id, zvol_id) are in /lib/udev with the other udev
helpers.

The remaining files in the zfs package remain in their
previous locations under /usr.