[SPARK-1720][SPARK-1719] use LD_LIBRARY_PATH instead of -Djava.library.path

- [X] Standalone
- [X] YARN
- [X] Mesos
- [X]  Mac OS X
- [X] Linux
- [ ]  Windows

This is another implementation about #1031

Author: GuoQiang Li <witgo@qq.com>

Closes #2711 from witgo/SPARK-1719 and squashes the following commits:

c7b26f6 [GuoQiang Li] review commits
4488e41 [GuoQiang Li] Refactoring CommandUtils
a444094 [GuoQiang Li] review commits
40c0b4a [GuoQiang Li] Add buildLocalCommand method
c1a0ddd [GuoQiang Li] fix comments
156ce88 [GuoQiang Li] review commit
38aa377 [GuoQiang Li] Refactor CommandUtils.scala
4269e00 [GuoQiang Li] Refactor SparkSubmitDriverBootstrapper.scala
7a1d634 [GuoQiang Li] use LD_LIBRARY_PATH instead of -Djava.library.path