In the field of physics the Muslims made contributions in especially three domains. The first was the measurement of specific weights of objects and the study of the balance following upon the work of Archimedes. In this domain the writings of al-Biruni and al-Khazini stand out. Secondly they criticized the Aristotelian theory of projectile motion and tried to quantify this type of motion. The critique of Ibn Sina, Abu'l-Barakat al-Baghdadi, Ibn Bajjah and others led to the development of the idea of impetus and momentum and played an important role in the criticism of Aristotelian physics in the West up to the early writings of Galileo. Thirdly there is the field of optics in which the Islamic sciences produced in Ibn al-Haytham (the Latin Alhazen) who lived in the 11th century, the greatest student of optics between Ptolemy and Witelo. Ibn al-Haytham's main work on optics, the Kitah al-manazir, was also well known in the West as Thesaurus opticus. Ibn al-Haytham solved many optical problems, one of which is named after him, studied the property of lenses, discovered the camera obscura, explained correctly the process of vision, studied the structure of the eye, and explained for the first time why the sun and the moon appear larger on the horizon. His interest in optics was carried out two centuries later by Qutb al-Din al-Shirazi and Kamal al-Din al-Farisi. It was Qutb al-Din who gave the first correct explanation of the formation of the rainbow.