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You are thinking of floors within a donjon or in the mural towers. Medieval architects were perfectly able to design and build upper floors of stone, but this always involved strong stone arches in the storey below (as in cathedral crypts and manor house undercrofts). Building these arches was a lengthy and complex process and meant the loss of valuable space in that lower storey.

By using supporting timbers that were simply set into niches in the stone walls, there was a much simpler building process and no space was lost below.

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Q: Why were the upper floors in a castle made of wood and not stone like the lower floor?
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