The Geometry of Minkowski Spacetime (2nd ed.)

This book offers a presentation of the special theory of relativity that is mathematically rigorous and yet spells out in considerable detail the physical significance of the mathematics.  It treats, in addition to the usual menu of topics one is accustomed to finding in introductions to special relativity, a wide variety of results of more contemporary origin. These include Zeeman’s characterization of the causal automorphisms of Minkowski spacetime, the Penrose theorem on the apparent sha