Constraint dynamics arose from the work of Dirac This section shows how the elimination of relative time and energy takes place in the c.m. system for the simple system of two relativistic spinless particles. Constraint dynamics was first applied to the classical relativistic two particle system by Todorov, Kalb and Van Alstine, Komar, and Droz–Vincent. With constraint dynamics, these authors found a consistent and covariant approach to relativistic canonical Hamiltonian mechanics that also evades the Currie–Jordan–Sudarshan "No Interaction" theorem. That theorem states that without fields, one cannot have a relativistic
Hamiltonian dynamics. Thus, the same covariant three-dimensional approach which allows the quantized version of constraint dynamics to remove
quantum ghosts simultaneously circumvents at the classical level the C.J.S. theorem. Consider a constraint on the otherwise independent coordinate and momentum four vectors, written in the form \phi _i (p, x)\approx 0. The symbol\approx 0 is called a weak equality and implies that the constraint is to be imposed only after any needed
Poisson brackets are performed. In the presence of such constraints, the total
Hamiltonian \mathcal{H} is obtained from the
Lagrangian \mathcal{L} by adding to its
Legendre transform (p\dot{x}-\mathcal{L}) the sum of the constraints times an appropriate set of
Lagrange multipliers (\lambda _{i}). \mathcal{H}=p\dot{x}-\mathcal{L}+\lambda _{i}\phi _{i}, This total Hamiltonian is traditionally called the Dirac Hamiltonian. Constraints arise naturally from parameter invariant actions of the form I=\int d\tau \mathcal{L}(\tau ) = \int d\tau' \frac{d\tau }{d\tau'} \mathcal{L}(\tau )= \int d\tau' \mathcal{L}(\tau'). In the case of four vector and
Lorentz scalar interactions for a single particle the Lagrangian is \mathcal{L}(\tau)=-(m+S(x))\sqrt{-\dot{x}^2}+\dot{x}\cdot A(x) \, The
canonical momentum is p = \frac{\partial \mathcal{L}}{\partial \dot{x}} = \frac{(m+S(x))\dot{x}}{\sqrt{-\dot{x}^2}} + A(x) and by squaring leads to the generalized mass shell condition or generalized mass shell constraint ( p-A)^2 + (m+S)^2 =0. \, Since, in this case, the Legendre Hamiltonian vanishes p\cdot \dot{x}-\mathcal{L}=0, \, the Dirac Hamiltonian is simply the generalized mass constraint (with no interactions it would simply be the ordinary mass shell constraint) \mathcal{H} = \lambda \left[ \left( p-A\right)^2 + (m+S)^2 \right] \equiv \lambda (p^2 + m^2 + \Phi (x,p)). One then postulates that for two bodies the Dirac Hamiltonian is the sum of two such mass shell constraints, \mathcal{H}_i = p_i^2+m_i^2+\Phi_i (x_1,x_2,p_1,p_2)\approx 0, \, that is \begin{align} \mathcal{H} &=\lambda_1[p_1^2+m_1^2+\Phi_1(x_1,x_2,p_1,p_2)] + \lambda_2[p_2^2 + m_2^2+\Phi_2(x_1,x_2,p_1,p_2)] \\[1ex] &=\lambda_1 \mathcal{H}_1 + \lambda_2 \mathcal{H}_2, \end{align} and that each constraint \mathcal{H}_i be constant in the
proper time associated with \mathcal{H} \dot{\mathcal{H}}_i = \{\mathcal{H}_i,\mathcal{H}\} \approx 0 \, Here the weak equality means that the
Poisson bracket could result in terms proportional one of the constraints, the classical Poisson brackets for the relativistic two-body system being defined by \left\{O_1, O_2\right\} = \frac{\partial O_1}{\partial x_1^\mu} \frac{\partial O_2}{\partial p_{1\mu}} -\frac{\partial O_1}{\partial p_1^\mu} \frac{\partial O_2}{\partial x_{1\mu}} +\frac{\partial O_1}{\partial x_2^\mu} \frac{\partial O_2}{\partial p_{2\mu}} -\frac{\partial O_1}{\partial p_2^\mu} \frac{\partial O_2}{\partial x_{2\mu}}. To see the consequences of having each constraint be a constant of the motion, take, for example \dot{\mathcal{H}}_1 = \{\mathcal{H}_1,\mathcal{H}\} = \lambda _1 \{\mathcal{H}_1, \mathcal{H}_1\} + \{\mathcal{H}_1,\lambda_1\} \mathcal{H}_2 + \lambda_2\{\mathcal{H}_2,\mathcal{H}_1\} + \{\lambda _2,\mathcal{H}_1\} \mathcal{H}_2. Since \{\mathcal{H}_1,\mathcal{H}_1\}=0 and \mathcal{H}_1\approx 0 and \mathcal{H}_2 \approx 0 one has \dot{\mathcal{H}}_1\approx \lambda _2\{\mathcal{H}_2, \mathcal{H}_1\}\approx 0. The simplest solution to this is \Phi _1 =\Phi _2 \equiv \Phi (x_\perp ) which leads to (note the equality in this case is not a weak one in that no constraint need be imposed after the Poisson bracket is worked out) \{\mathcal{H}_2,\mathcal{H}_1\}=0 \, (see Todorov, ) with the same x_\perp defined above. == Quantization ==