opt: use paired joins for left semi inverted joins

pkg/sql/logictest/testdata/logic_test/inverted_join_geospatial

@@ -165,7 +165,7 @@ AND (ST_DFullyWithin(rtable.geom, ltable.geom1, 100) OR ST_Intersects('POINT(1.0
 ----
 1 13
 
-# These queries perform semi-joins, which are converted to inner joins by the
+# These queries perform semi-joins, which are converted to paired joins by the
 # optimizer.
 query I
 SELECT lk FROM ltable WHERE EXISTS (SELECT * FROM rtable WHERE ST_Intersects(ltable.geom2, rtable.geom))

pkg/sql/logictest/testdata/logic_test/inverted_join_geospatial_dist

@@ -79,13 +79,13 @@ AND (ST_DFullyWithin(rtable.geom, ltable.geom1, 100) OR ST_Intersects('POINT(1.0
 ----
 https://cockroachdb.github.io/distsqlplan/decode.html#eJzsVUFv2jAYve9XWN-lIBmIE6DUp1QrTKlo0gGHTRWqMuJ1WVM7s52uVcV_n5JUKwlgUk27wQnb7_l9ed_35BdQvxKgMB9Pxx8XKJMJmsyCK3Qz_nI9Pfd81Lrw5ov552kbvUKSe4zkfYlKdPgtYegy8Hwki__uHRMPtzGP2BMKfNRS-jbmmknFVlq1Snw3xxD8yihWbXTuXyClb1fikckK0K4CS2R-b_Q9S5Ln37H-EfPWBgSjqgyxrDYKZqhaysl14PmLFulaiHSt9klNZQkYuIiYHz4wBfQGCGCwAYMDSwypFCumlJD50UsB9KInoBaGmKeZzreXGFZCMqAvoGOdMKCwyAVmLIyY7FmAIWI6jJPi-rJkN5XxQyifAcM8DbmiqNOzYbnGIDL9dq_S4R0DSta4ubbHH5nULLoUMWey51Tlt5oH-C9j_JTKeiNdGyN3UO-a6xS7e1pUcop-dC1K6WQanC9Gu1pjEYtYW7-J5Uzq6xNK6adxcDVezL6W2oAhyDRFLsGujV0Hu_29BtrvMTA37rV3w53mvfVuKsR9lqKfIuZIcIrcfl7VVhoKQ4Y7TRzuNXGIUc77jyYOqybut8_Za9-baxkXMmKSRRXLlusdBvuiI9LeWQ24W7pfkSbNY0eaxa5nd3pOw-AdUK8Fr38MXj14BwzcCN7pMXjbwbObT7_dcPqdTsPZP6Bdm_3Bcfbrs3_AwI3ZHx1n3_zo7LBvxlQquGKN3hQrf5RYdMfKF0yJTK7YtRSrQqZcBgWv2IiY0uUpKRceL4_yAjfJxEi2zWTbSHYqZFInO-ayLbN038gemMkDI3loJg__5aNPjeSRWXlkJJ-ZyWfvKnu5_vAnAAD__96MMnU=
 
-# This query performs a semi-join, which is converted to an inner join by the
+# This query performs a semi-join, which is converted to paired joins by the
 # optimizer.
 query T
 SELECT url FROM [EXPLAIN (DISTSQL)
 SELECT lk FROM ltable WHERE EXISTS (SELECT * FROM rtable WHERE ST_Intersects(ltable.geom2, rtable.geom))]
 ----
-https://cockroachdb.github.io/distsqlplan/decode.html#eJzElVFP2zAQx9_3Kax7opu71klaIE-ZRqZ16lrWIg0JVSg0J8gIcWY7Ewj1u09JKtKG1k4Ho49J7uf7-ey_8gjydwwuTP2h__mMZCImXybj7-TCPz8dfhqMyMHJYHo2_TFskWVJfFtWxCq4ipH8_OpPfOKf51XkYFnzviwRqyVSXUaJQiFxruRBSX-8Rn5n0WVh8dRqzYBCwkMcBXcowb0ABhQsoGDDjEIq-Byl5CL_9FgUDsJ7cLsUoiTNVP56RmHOBYL7CCpSMYILZ3mDCQYhik4XKISogiguli9VvFREd4F4AArTNEikS9qdvOk4Uy7xGPVsmC0o8ExVTaQKrhFctqDNRQbJHxQKw288SlB07HWXchBePojLKAnxHugT4d-nojZFz6LEc1qrmpbO1NrFNDdcTqy_0bKa2JDz2ywlv3iUEJ64xMu3NR5tsu2t225VtXdRPYmkipK56hyvi3r51RmLEAWGecNat2qBqwdyE8ibZ_RsURk5W42qdXjZq77Oh3KhrdrMMng_jWzrvHoN7LJkk99GtRFv87TDerXKzb37a71Z8ySyZknsWO0iKDtn0aBSy6KzxywaTFeyeLjvLBpUq0vdfbMwslcNo_3KYbSaB8JqGAi7_S9xMIjU4tDbYxwMpitxONp3HAyq1bVibxYH61Xj4PzHf9OGxhOUKU8kNvrzdHN1DK-x3KrkmZjjqeDzok35OC644kWIUpVfWfkwSMpPueAqzLSwpYctLWzrYbsOs1XYWYPZbjDrvoju6WlHu2sD3NMfVl8_s76WPtTDh1r4SA8faeFjPXz8kqPWw6ajNtCG02L6bJlofbiYIV1MHy9myBd7dsvXcceAP7vmuxyagTadmgk3DV6fsjo9W7z7GwAA__9Kzz7E
+https://cockroachdb.github.io/distsqlplan/decode.html#eJzUlN9v2j4Uxd-_f4V1n8pXZpAEaJunTFuqpaLQAdIqVVGVxXdV1tTObGeiQvzvkxM2fghM2F7aR8fn5J7P1ZEXoH7k4MM0HIYfZqSUObmajG_IfXh3O3wfjcjZx2g6m34etshKkj_VilwnX3MkXz6Fk5CEd0ZFzlaa_2uJ3JQo_ZBxjVJhqtVZ7X73iOLZpSthdWq1YqDABcNR8owK_HtwgIILFDyIKRRSpKiUkOZqUQkjNge_SyHjRanN55hCKiSCvwCd6RzBh5kZMMGEoex0gQJDnWR59fs6SlDI7DmRL0BhWiRc-aTdMUPHpfZJ4NDAg3hJQZR6PUTp5BHBd5a0eZCI_0SpkV2LjKPseNtZ6kUEZhEPGWc4B_rHEc4LubPFwKUk6LWAwrdMKk2-i4yTjJMiySSytjluIrg08GjQPwjingJiAFYLHWxDzF4K9MkwvJqRaXgTketxNAL6m22956EQT2VRhxbcJ4FZxni0j3FgGBWmgjM75EE27yDbGqnkQjKUyLZ44uUe-pFoi6JzuSPcP7q3NdppXlSnWVE7brvq0clVPRJlp6q911vVIyAbVT1_c1V1m_fFbdgXr_03bTkSZKct_dfbliMgG225eHNtOfJoT1AVgits9G51zcOH7BHrV1KJUqZ4K0VajamP48pXfWCodH3r1IeI11cm4KbZsZpdu9m1mr0ts7Nr9uyxu_bRPau7bzf3reaB3Tz4F-hzq_nCPvnCar60my9Pih0v__sVAAD__xtCcVg=
 
 # Left joins are converted to paired joins by the optimizer.
 query T
@@ -199,7 +199,7 @@ SELECT url FROM [EXPLAIN (DISTSQL)
 SELECT lk FROM ltable WHERE EXISTS (SELECT * FROM rtable2@geom_index
 WHERE ST_Intersects(ltable.geom1, rtable2.geom)) ORDER BY lk]
 ----
-https://cockroachdb.github.io/distsqlplan/decode.html#eJzMlVFP2zwUhu-_X2GdK_rNXeskLZCrbCPTOnUta5HGhCoUGgsyQpzZzgRC_e-Tk440KbXT0QGXic_j8-bYj3IP4mcMLkz9of_hBGU8Rh8n4y_ozD89Hr4bjNDe0WB6Mv06bKFlSXxdVMQyuIgp-vbJn_jIP1VVaG9Z839RwvMSy7uk7OY8SkJ6uywX8jxKJOWCzqXYK3Z6q6oI_gPlj60WGk-O_Al6_x3F1zPAkLCQjoIbKsA9AwIYLMBgwwxDytmcCsG4WrrPCwfhLbhdDFGSZlK9nmGYM07BvQcZyZiCCyeq24QGIeWdLmAIqQyiON--yOWlPLoJ-B1gmKZBIlzU7qim40y6yCPYs2C2wMAyWTYRMrik4JIFbh5kkPyiXNLwM4sSyjt2Ncv6KAE_IP5tymsz9SyMPKdVyYk9G3u9jWmtbdKqlMup9R9PWo5tyNh1lqIfLEoQS1ykYjgq2eix0P1Ws-Ha28Q9ioSMkrnsHFbDeuoKjXlIOQ1Vw1q3coOLO3QViKs1erYoEzkbE5X7sKJXfZ83xUYbYxPLkPthZBvn1dt5uhFrs7RDepXyTe37lfakuZSkmZQdq507s7WWhig1LZ0X1tKQdkXL_degpSFueb-7z-Yl2amX9o69tJqLYTUUw27_jRaGIDUtei-shSHtihYHr0ELQ9zyepFn08LaqRbOP_xdPdJ4QkXKEkEb_Ym6KjoNL2nxqYJlfE6POZvnbYrHcc7lL0IqZLFKiodBUiypgKsw0cKWHra0sK2H7TpMVmGnApPtYNJ9Et3T0472qw1wT39Yff3M-lp6Xw_va-EDPXyghQ_18OFTjloPm47aQBtOi-jdMtF6uYjBLqLXixj8Imu3vIo7Bnztmm9zaAbadGom3DR4vWV1erb473cAAAD__7TDS8A=
+https://cockroachdb.github.io/distsqlplan/decode.html#eJzUlFFP2z4Uxd__n8K6T_Q_d22StkCeso2gBZWWtZXGhCKUxXcoI9iZ7Uwg1O8-OemAdNRNtxd4dHxO7vldHfke1I8cfJiH4_DDgpQyJ8ez6Sm5CM_Pxu-iCdk7iuaL-adxh6wk-XWtyHXyNUfy-WM4C0l4blRkb6X5v5bISuIGVyhuLjPO8HYlV_oy4xqlwlSrvfpPb43Kob9N1bHTIdPZUTgj77-Q_DoGClwwnCQ3qMC_AAcouEDBg5hCIUWKSglpru4rYcRuwe9TyHhRavM5ppAKieDfg850juDDwkybYcJQ9vpAgaFOsrz6fZ0rKGR2k8g7oDAvEq580u2ZodNS-yRwaOBCvKQgSv04ROnkCsF3lrR9kIj_RKmRnYiMo-x5zSx_rhLogyW8LeTaTgOXkmDQAQrfMqk0-S4yTjJOiiSTyLrm2GCggUeDIQ1GG2HcXWAMxGqpoybI4q5An4zD4wWZh6cROZlGE6APfI_LHgtxXRZ1cMF9YgIOTObJc6j7BlVhKjizs27k8zbyPWIJyVAiaxIFzhuIl88sYSK6ougdNtSbpg8a0532nXXadbbndqtK7dzaLVHWWjt42a3dAvOktfuvsrVu-964LXvjdf-mNVuCrLVm-LJbswXmSWsOXmVrtrzlM1SF4ApbvWN98xAiu8L64VSilCmeSZFWY-rjtPJVHxgqXd869SHi9ZUJ-NTsWM2u3exazV7D7KybPXvsvn30wOoe2s1Dq3lkN4_-BXrfaj6wTz6wmg_t5sOdYsfL_34FAAD__7Tvflc=
 
 query T
 SELECT url FROM [EXPLAIN (DISTSQL)

pkg/sql/logictest/testdata/logic_test/inverted_join_geospatial_explain

@@ -146,39 +146,34 @@ project · ·
 · table ltable@primary · ·
 · spans FULL SCAN · ·
 
-# This query performs a semi-join, which is converted to an inner join by the
+# This query performs a semi-join, which is converted to paired joins by the
 # optimizer.
 query TTTTT
 EXPLAIN (VERBOSE)
 SELECT lk FROM ltable WHERE EXISTS (SELECT * FROM rtable WHERE ST_Intersects(ltable.geom2, rtable.geom))
 ----
-· distribution local · ·
-· vectorized true · ·
-project · · (lk) ·
- │ estimated row count 10 (missing stats) · ·
- └── distinct · · (lk, geom2) ·
- │ estimated row count 1000 (missing stats) · ·
- │ distinct on lk · ·
- │ order key lk · ·
- └── project · · (lk, geom2) +lk
- └── project · · (lk, geom2, geom) +lk
- │ estimated row count 9801 (missing stats) · ·
- └── lookup join (inner) · · (lk, geom2, rk1, rk2, geom) +lk
- │ table rtable@primary · ·
- │ equality (rk1, rk2) = (rk1,rk2) · ·
- │ equality cols are key · · ·
- │ pred st_intersects(geom2, geom) · ·
- └── project · · (lk, geom2, rk1, rk2) +lk
- │ estimated row count 10000 (missing stats) · ·
- └── inverted join (inner) · · (lk, geom2, rk1, rk2, geom_inverted_key) +lk
- │ table rtable@geom_index · ·
- │ inverted expr st_intersects(geom2, geom_inverted_key) · ·
- └── scan · · (lk, geom2) +lk
-· estimated row count 1000 (missing stats) · ·
-· table ltable@primary · ·
-· spans FULL SCAN · ·
+· distribution local · ·
+· vectorized true · ·
+project · · (lk) ·
+ │ estimated row count 10 (missing stats) · ·
+ └── project · · (lk, geom2) ·
+ │ estimated row count 10 (missing stats) · ·
+ └── lookup join (semi) · · (lk, geom2, rk1, rk2, cont) ·
+ │ table rtable@primary · ·
+ │ equality (rk1, rk2) = (rk1,rk2) · ·
+ │ equality cols are key · · ·
+ │ pred st_intersects(geom2, geom) · ·
+ └── project · · (lk, geom2, rk1, rk2, cont) ·
+ │ estimated row count 10000 (missing stats) · ·
+ └── inverted join (inner) · · (lk, geom2, rk1, rk2, geom_inverted_key, cont) ·
+ │ table rtable@geom_index · ·
+ │ inverted expr st_intersects(geom2, geom_inverted_key) · ·
+ └── scan · · (lk, geom2) ·
+· estimated row count 1000 (missing stats) · ·
+· table ltable@primary · ·
+· spans FULL SCAN · ·
 
-# Left joins are also converted to an inner join by the optimizer.
+# Left outer joins are also converted to paired joins by the optimizer.
 query TTTTT
 EXPLAIN (VERBOSE)
 SELECT lk, rk1 FROM ltable LEFT JOIN rtable ON ST_Intersects(ltable.geom1, rtable.geom)

pkg/sql/opt/exec/execbuilder/testdata/inverted_index

@@ -785,59 +785,36 @@ query T
 EXPLAIN (OPT, VERBOSE) SELECT * FROM geo_table2 WHERE EXISTS (SELECT * FROM geo_table@geom_index
 WHERE ST_Intersects(geo_table2.geom, geo_table.geom))
 ----
-project
+semi-join (lookup geo_table)
  ├── columns: k:1 geom:2
+ ├── key columns: [5] = [5]
+ ├── lookup columns are key
  ├── immutable
  ├── stats: [rows=10]
- ├── cost: 112690.199
+ ├── cost: 112684.05
  ├── key: (1)
  ├── fd: (1)-->(2)
  ├── prune: (1)
- └── distinct-on
- ├── columns: geo_table2.k:1 geo_table2.geom:2
- ├── grouping columns: geo_table2.k:1
- ├── internal-ordering: +1
- ├── immutable
- ├── stats: [rows=999.947218, distinct(1)=999.947218, null(1)=0]
- ├── cost: 112690.089
- ├── key: (1)
- ├── fd: (1)-->(2)
- ├── inner-join (lookup geo_table)
- │ ├── columns: geo_table2.k:1 geo_table2.geom:2 geo_table.geom:6
- │ ├── key columns: [5] = [5]
- │ ├── lookup columns are key
- │ ├── immutable
- │ ├── stats: [rows=9801, distinct(1)=999.947218, null(1)=0]
- │ ├── cost: 112484.05
- │ ├── fd: (1)-->(2)
- │ ├── ordering: +1
- │ ├── prune: (1)
- │ ├── interesting orderings: (+1)
- │ ├── inner-join (inverted-lookup geo_table@geom_index)
- │ │ ├── columns: geo_table2.k:1 geo_table2.geom:2 geo_table.k:5
- │ │ ├── inverted-expr
- │ │ │ └── st_intersects(geo_table2.geom:2, geo_table.geom:6)
- │ │ ├── stats: [rows=10000, distinct(1)=999.956829, null(1)=0]
- │ │ ├── cost: 41784.03
- │ │ ├── key: (1,5)
- │ │ ├── fd: (1)-->(2)
- │ │ ├── ordering: +1
- │ │ ├── scan geo_table2
- │ │ │ ├── columns: geo_table2.k:1 geo_table2.geom:2
- │ │ │ ├── stats: [rows=1000, distinct(1)=1000, null(1)=0, distinct(2)=100, null(2)=10]
- │ │ │ ├── cost: 1084.02
- │ │ │ ├── key: (1)
- │ │ │ ├── fd: (1)-->(2)
- │ │ │ ├── ordering: +1
- │ │ │ ├── prune: (1,2)
- │ │ │ ├── interesting orderings: (+1)
- │ │ │ └── unfiltered-cols: (1-4)
- │ │ └── filters (true)
- │ └── filters
- │ └── st_intersects(geo_table2.geom:2, geo_table.geom:6) [outer=(2,6), immutable, constraints=(/2: (/NULL - ]; /6: (/NULL - ])]
- └── aggregations
- └── const-agg [as=geo_table2.geom:2, outer=(2)]
- └── geo_table2.geom:2
+ ├── inner-join (inverted-lookup geo_table@geom_index)
+ │ ├── columns: geo_table2.k:1 geo_table2.geom:2 geo_table.k:5 continuation:11
+ │ ├── inverted-expr
+ │ │ └── st_intersects(geo_table2.geom:2, geo_table.geom:6)
+ │ ├── stats: [rows=10000, distinct(1)=999.956829, null(1)=0]
+ │ ├── cost: 41984.03
+ │ ├── key: (1,5)
+ │ ├── fd: (1)-->(2), (5)-->(11)
+ │ ├── scan geo_table2
+ │ │ ├── columns: geo_table2.k:1 geo_table2.geom:2
+ │ │ ├── stats: [rows=1000, distinct(1)=1000, null(1)=0, distinct(2)=100, null(2)=10]
+ │ │ ├── cost: 1084.02
+ │ │ ├── key: (1)
+ │ │ ├── fd: (1)-->(2)
+ │ │ ├── prune: (1,2)
+ │ │ ├── interesting orderings: (+1)
+ │ │ └── unfiltered-cols: (1-4)
+ │ └── filters (true)
+ └── filters
+ └── st_intersects(geo_table2.geom:2, geo_table.geom:6) [outer=(2,6), immutable, constraints=(/2: (/NULL - ]; /6: (/NULL - ])]
 
 query T
 EXPLAIN (OPT, VERBOSE) SELECT * FROM geo_table2 WHERE NOT EXISTS (SELECT * FROM geo_table@geom_index