I am reading Goldstein and trying to understand the special theory of relativity. I am not sure how did he make this following argument.
The books explain that $ds^2$ is invariant in spacetime. He didn't discuss Lorentz's transformation yet. How can the author says for $ds^2$ to be the same in both frame transformation should include relative velocity in both space and time? I understand after looking at the Lorentz transformation. But just looking at $ds^2$, you can make this argument?