Relativistic particle phase-space action (source code)

= Relativistic particle phase-space action
{title2=$I=\int dt\,[p_m\dot x^m-\tfrac e2(p^2+M^2)]$}

The <worldline einbein> imposes the relativistic <mass-shell condition>. With the <Minkowski metric> of signature $(-,+,\ldots,+)$, its <first-class constraint> is $\varphi=(p^2+M^2)/2$.