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After the Norman conquest that was lead by William the conquerer motte and bailey castles were built in England.
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In order for William the conquerer to show no mercy to the english, he build stone keep castles as it is stronger than a motte and bailey castle and it is easier to defend.
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King Edwad I was the first to build a concentric castle which is a castle within a castle it was designed by him. The concentric castle came after the stone keep castle improving the defense system
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When gunpowder was invented castles were weak so battles were often in open fields and not in castles so castles were not much of a use and it is a waste of money if they build everything for nothing.
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Since defensive castles were in delcine kings spent their money on castle which is more suitable for a living the space that is luxurious and have to not worry about being attacked.
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The first was built at Mont Glonme on the river Loire in France and it was made out of timber.
