We consider the semiclassical theory in a joint phase space of spin and
orbital degrees of freedom. The method is developed from the path integrals
using the spin-coherent-state representation, and yields the trace formula for
the density of states. We discuss special cases, such as weak and strong
spin-orbit coupling, and relate the present theory to the earlier approaches.Comment: 36 pages, 8 figures. Version 2: revised Sec. 4.4 and Appendix B;
minor corrections elsewher