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In Descartes' mechanical corpuscular natural philosophy, by contrast, there are just two kinds of substance that are entirely different from each other in kind: mental substance and physical substance. The fundamental property of '''mental substance''' was thought, and Descartes equated it with the rational soul of God and humans. The fundamental feature of '''physical substance''' was extension in space. He rejected Aristotle's distinction between form and matter, including Aristotle's four elements. [[CiteRef::Ariew (1992)]] Cartesian mechanics rejects the void posited by atomists; instead matter fills the universe as a plenum. If all matter is extended, Descartes reasoned that there can be no space without extended matter. Also unlike atomism, matter is infinitely divisible, though visible things are composed of tiny corpuscles that interact with one another by physical contact. The corpuscular composition of a material body, rather than its Aristotelian form, determines its properties. Since corpuscles are too small to be directly observed, their size and shape must be hypothesized, though observation can allow us to infer the plausibility of our guesswork. Our senses, Descartes maintained, do not inform us of the mechanical world as it is, but provide us with sensations which are mere signs of their objective causes. Only extended matter and motion exist apart from our minds. [[CiteRef::Clarke (1992)]] Descartes completed a manuscript that was to be a comprehensive expression of his mechanical natural philosophy, called ''The World''. He withdrew his plans to publish it upon learning of the condemnation of Galileo in Rome in 1633. The work never appeared during his lifetime, but two major fragments, the ''Treatise on Light'', and the ''Treatise on Man'' were published posthumously. The first dealt with physics, and the second put forward a theory of physiology, nervous system function, and the mind/brain relationship. [[CiteRef::Garber (1992)]][[CiteRef::Descartes (2003)]]

In Descartes cosmology, the universe is essentially mechanical in character. Copernican heliocentrism is accepted, and planetary motion is explained in terms of a swirling '''vortex''' of material particles around the central sun. Earth, as a moving planet, is the center of its own smaller vortex. The particles of the vortex push larger bodies towards its center and this explains gravity without supposing, as did Aristotle, that the sphere of earth was at rest in its natural place; the center of the universe. It also made it reasonable to suppose that other planets had their own attractive vorticies, and were thus other worlds. [[CiteRef::Garber (1992)]]