The great push toward the modern concept of explanation started with Galileo, one of the few physicists who was both a consummate theoretician and a great experimentalist. The analytic geometry and mechanics of Descartes were incorporated into the calculus and mechanics of Isaac Newton, another theoretician/experimentalist of the highest order, writing Principia Mathematica. In it contained a grand synthesis of the work of Copernicus, Galileo and Kepler; as well as Newton's theories of mechanics and gravitation, which held sway as worldviews until the early 20th century. Simultaneously, progress was also made in optics (in particular colour theory and the ancient science of geometrical optics), courtesy of Newton, Descartes and the Dutchmen Snell and Huygens. In the 18th and 19th centuries Joseph-Louis Lagrange, Leonhard Euler and William Rowan Hamilton would extend the theory of classical mechanics considerably. They picked up the interactive intertwining of mathematics and physics begun two millennia earlier by Pythagoras.