Johannes Kepler suggested that gravitational attractions were reciprocal — that, for example, the Moon pulls on the Earth while the Earth pulls on the Moon — but he did not argue that such pairs are equal and opposite. In his Principles of Philosophy (1644), Descartes introduced the idea that during a collision between bodies, a "quantity of motion" remains unchanged. Descartes defined this quantity somewhat imprecisely by adding up the products of the speed and "size" of each body, where "size" for him incorporated both volume and surface area. Moreover, Descartes thought of the universe as a plenum, that is, filled with matter, so all motion required a body to displace a medium as it moved.