Galileo recognized that in projectile motion, the Earth's gravity affects vertical but not horizontal motion. However, Galileo's idea of inertia was not exactly the one that would be codified into Newton's first law. Galileo thought that a body moving a long distance inertially would follow the curve of the Earth. This idea was corrected by Isaac Beeckman, Descartes, and Pierre Gassendi, who recognized that inertial motion should be motion in a straight line. Descartes published his laws of nature (laws of motion) with this correction in Principles of Philosophy (Principia Philosophiae) in 1644, with the heliocentric part toned down.