## What changes were proposed in this pull request?
The existing query constraints framework has 2 steps:
1. propagate constraints bottom up.
2. use constraints to infer additional filters for better data pruning.
For step 2, it mostly helps with Join, because we can connect the constraints from children to the join condition and infer powerful filters to prune the data of the join sides. e.g., the left side has constraints `a = 1`, the join condition is `left.a = right.a`, then we can infer `right.a = 1` to the right side and prune the right side a lot.
However, the current logic of inferring filters from constraints for Join is pretty weak. It infers the filters from Join's constraints. Some joins like left semi/anti exclude output from right side and the right side constraints will be lost here.
This PR propose to check the left and right constraints individually, expand the constraints with join condition and add filters to children of join directly, instead of adding to the join condition.
This reverts https://github.com/apache/spark/pull/20670 , covers https://github.com/apache/spark/pull/20717 and https://github.com/apache/spark/pull/20816
This is inspired by the original PRs and the tests are all from these PRs. Thanks to the authors mgaido91 maryannxue KaiXinXiaoLei !
## How was this patch tested?
new tests
Author: Wenchen Fan <wenchen@databricks.com>
Closes#21083 from cloud-fan/join.
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