Fix SHLIB_PREREQS use in contrib, allowing PGXS builds

dblink and postgres_fdw use SHLIB_PREREQS = submake-libpq to build libpq
first.  This doesn't work in a PGXS build, because there is no libpq to
build.  So just omit setting SHLIB_PREREQS in this case.

Note that PGXS users can still use SHLIB_PREREQS (although it is not
documented).  The problem here is only that contrib modules can be built
in-tree or using PGXS, and the prerequisite is only applicable in the
former case.

Commit 6697aa2b previously attempted to
address this by creating a somewhat fake submake-libpq target in
Makefile.global.  That was not the right fix, and it was also done in a
nonportable way, so revert that.