Representation theory of the Lorentz group - Wikipedia: "Mathematically the Lorentz group is defined as the set of transformations preserving the bilinear form
{\displaystyle (ct_{1},x_{1},y_{1},z_{1})\cdot (ct_{2},x_{2},y_{2},z_{2})=-c^{2}t_{1}t_{2}+x_{1}x_{2}+y_{1}y_{2}+z_{1}z_{2},} "
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