Update of install-sh, mkinstalldirs, and associated configury

Update install-sh to that from Autoconf 2.63, plus our Darwin-specific
changes (which I simplified a bit).  install-sh is now able to install
multiple files in one run, so we could simplify our makefiles sometime.

install-sh also now has a -d option to create directories, so we don't need
mkinstalldirs anymore.

Use AC_PROG_MKDIR_P in configure.in, so we can use mkdir -p when available
instead of install-sh -d.  For consistency with the rest of the world,
the corresponding make variable has been renamed from $(mkinstalldirs) to
$(MKDIR_P).