[SPARK-23405] Generate additional constraints for Join's children

## What changes were proposed in this pull request?

(Please fill in changes proposed in this fix)
I run a sql: `select ls.cs_order_number from ls left semi join catalog_sales cs on ls.cs_order_number = cs.cs_order_number`, The `ls` table is a small table ,and the number is one. The `catalog_sales` table is a big table,  and the number is 10 billion. The task will be hang up. And i find the many null values of `cs_order_number` in the `catalog_sales` table. I think the null value should be removed in the logical plan.

>== Optimized Logical Plan ==
>Join LeftSemi, (cs_order_number#1 = cs_order_number#22)
>:- Project cs_order_number#1
>   : +- Filter isnotnull(cs_order_number#1)
>      : +- MetastoreRelation 100t, ls
>+- Project cs_order_number#22
>   +- MetastoreRelation 100t, catalog_sales

Now, use this patch, the plan will be:
>== Optimized Logical Plan ==
>Join LeftSemi, (cs_order_number#1 = cs_order_number#22)
>:- Project cs_order_number#1
>   : +- Filter isnotnull(cs_order_number#1)
>      : +- MetastoreRelation 100t, ls
>+- Project cs_order_number#22
>   : **+- Filter isnotnull(cs_order_number#22)**
>     :+- MetastoreRelation 100t, catalog_sales

## How was this patch tested?

(Please explain how this patch was tested. E.g. unit tests, integration tests, manual tests)
(If this patch involves UI changes, please attach a screenshot; otherwise, remove this)

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Author: KaiXinXiaoLei <584620569@qq.com>
Author: hanghang <584620569@qq.com>

Closes #20670 from KaiXinXiaoLei/Spark-23405.