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Earthquakes create waves which travel through the Earth until they reach the other side of Earth. Scientists can measure these waves, and by knowing where they originated, they can see how they bend. The waves bend as they go through the Earth due to the differing densities of the layers. For example, the waves cannot travel through the core, they must bend around it. By studying how the waves bend, scientist know where the density changes in the layers. The layers classified according to this are called the crust, mantle, and core. They are called the physical layers because they differ physically (they have different densities, composition, etc.). The process is very complex, and this is a simplified answer, so feel free to look it up if you are still curious. You could look for something like "discovery of the layers".

I hope this made sense.

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