Seismic waves from earthquakes and explosions allow scientists to map the interior of Earth. Layers are identified by how fast p-waves and s-waves travel through materials with different densities and states. The crust is thin and varies in thickness, with oceanic crust thinner than continental crust. Below the crust lies the mantle, which is hot and convects slowly. The outer core is liquid and the inner core is solid, and their rotation generates Earth's magnetic field.