Complex sentence: Richards was away on tour at the time, something which he said has haunted him since; he was criticised at the time for performing that night after learning of the death, but he later said it was the only way he could cope.
Split into simpler sentences: Richards was away on tour at the time, something he said has haunted him since. He was criticised at the time for performing that night after learning of the death, but he later said it was the only way he could cope.