In this era, important concepts in calculus such as the fundamental theorem of calculus (proved in 1668 by Scottish mathematician James Gregory) and finding extrema and minima of functions via differentiation using Fermat's theorem (by French mathematician Pierre de Fermat) were already known before Leibniz and Newton. Isaac Newton (1642–1727) developed some concepts in calculus (although Gottfried Wilhelm Leibniz developed similar concepts outside the context of physics) and Newton's method to solve problems in physics. He was extremely successful in his application of calculus to the theory of motion. Newton's theory of motion, shown in his Mathematical Principles of Natural Philosophy, published in 1687, modeled three Galilean laws of motion along with Newton's law of universal gravitation on a framework of absolute space—hypothesized by Newton as a physically real entity of Euclidean geometric structure extending infinitely in all directions—while presuming absolute time, supposedly justifying knowledge of absolute motion, the object's motion with respect to absolute space. The principle of Galilean invariance/relativity was merely implicit in Newton's theory of motion. Having ostensibly reduced the Keplerian celestial laws of motion as well as Galilean terrestrial laws of motion to a unifying force, Newton achieved great mathematical rigor, but with theoretical laxity.