Eudoxus of Cnidus
The Ancient Greeks developed astronomy, which they treated as a branch of mathematics, to a highly sophisticated level. The first geometrical, three-dimensional models to explain the apparent motion of the planets were developed in the 4th century BC by Eudoxus of Cnidus and Callippus of Cyzicus. Their models were based on nested homocentric spheres centered upon the Earth. Their younger contemporary Heraclides Ponticus proposed that the Earth rotates around its axis.