SPARK-1843: Replace assemble-deps with env variable.

(This change is actually small, I moved some logic into
compute-classpath that was previously in spark-class).

Assemble deps has existed for a while to allow developers to
run local code with new changes quickly. When I'm developing I
typically use a simpler approach which just prepends the Spark
classes to the classpath before the assembly jar. This is well
defined in the JVM and the Spark classes take precedence over those
in the assembly.

This approach is portable across both builds which is the main reason I'd
like to switch to it. It's also a bit easier to toggle on and off quickly.

The way you use this is the following:
```
$ ./bin/spark-shell # Use spark with the normal assembly
$ export SPARK_PREPEND_CLASSES=true
$ ./bin/spark-shell # Now it's using compiled classes
$ unset SPARK_PREPEND_CLASSES
$ ./bin/spark-shell # Back to normal
```