diff --git a/include/bounce/cloth/cloth_contact_manager.h b/include/bounce/cloth/cloth_contact_manager.h
index eccf419..c1e8bd7 100644
--- a/include/bounce/cloth/cloth_contact_manager.h
+++ b/include/bounce/cloth/cloth_contact_manager.h
@@ -19,8 +19,8 @@
 #ifndef B3_CLOTH_CONTACT_MANAGER_H
 #define B3_CLOTH_CONTACT_MANAGER_H
 
-#include <bounce/cloth/cloth_particle_body_contact.h>
-#include <bounce/cloth/cloth_particle_triangle_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_body_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_triangle_contact.h>
 #include <bounce/collision/broad_phase.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/contacts/cloth_contact_solver.h
similarity index 100%
rename from include/bounce/cloth/cloth_contact_solver.h
rename to include/bounce/cloth/contacts/cloth_contact_solver.h
diff --git a/include/bounce/cloth/cloth_particle_body_contact.h b/include/bounce/cloth/contacts/cloth_particle_body_contact.h
similarity index 100%
rename from include/bounce/cloth/cloth_particle_body_contact.h
rename to include/bounce/cloth/contacts/cloth_particle_body_contact.h
diff --git a/include/bounce/cloth/cloth_particle_triangle_contact.h b/include/bounce/cloth/contacts/cloth_particle_triangle_contact.h
similarity index 100%
rename from include/bounce/cloth/cloth_particle_triangle_contact.h
rename to include/bounce/cloth/contacts/cloth_particle_triangle_contact.h
diff --git a/include/bounce/cloth/dense_vec3.h b/include/bounce/sparse/dense_vec3.h
similarity index 100%
rename from include/bounce/cloth/dense_vec3.h
rename to include/bounce/sparse/dense_vec3.h
diff --git a/include/bounce/cloth/diag_mat33.h b/include/bounce/sparse/diag_mat33.h
similarity index 98%
rename from include/bounce/cloth/diag_mat33.h
rename to include/bounce/sparse/diag_mat33.h
index b08065e..f7a1486 100644
--- a/include/bounce/cloth/diag_mat33.h
+++ b/include/bounce/sparse/diag_mat33.h
@@ -20,7 +20,7 @@
 #define B3_DIAG_MAT_33_H
 
 #include <bounce/common/math/mat33.h>
-#include <bounce/cloth/dense_vec3.h>
+#include <bounce/sparse/dense_vec3.h>
 
 // Diagonal matrix storing only the diagonal elements of the 
 // original matrix.
diff --git a/include/bounce/cloth/sparse_mat33.h b/include/bounce/sparse/sparse_mat33.h
similarity index 98%
rename from include/bounce/cloth/sparse_mat33.h
rename to include/bounce/sparse/sparse_mat33.h
index 273b7ad..7bebd1a 100644
--- a/include/bounce/cloth/sparse_mat33.h
+++ b/include/bounce/sparse/sparse_mat33.h
@@ -20,8 +20,8 @@
 #define B3_SPARSE_MAT_33_H
 
 #include <bounce/common/math/mat33.h>
-#include <bounce/cloth/diag_mat33.h>
-#include <bounce/cloth/dense_vec3.h>
+#include <bounce/sparse/diag_mat33.h>
+#include <bounce/sparse/dense_vec3.h>
 
 // An element in a sparse matrix.
 struct b3RowValue
diff --git a/include/bounce/cloth/sparse_mat33_view.h b/include/bounce/sparse/sparse_mat33_view.h
similarity index 98%
rename from include/bounce/cloth/sparse_mat33_view.h
rename to include/bounce/sparse/sparse_mat33_view.h
index 414808c..9d92520 100644
--- a/include/bounce/cloth/sparse_mat33_view.h
+++ b/include/bounce/sparse/sparse_mat33_view.h
@@ -19,7 +19,7 @@
 #ifndef B3_SPARSE_MAT_33_VIEW_H
 #define B3_SPARSE_MAT_33_VIEW_H
 
-#include <bounce/cloth/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33.h>
 
 struct b3ArrayRowValue
 {
diff --git a/include/bounce/cloth/sparse_sym_mat33.h b/include/bounce/sparse/sparse_sym_mat33.h
similarity index 99%
rename from include/bounce/cloth/sparse_sym_mat33.h
rename to include/bounce/sparse/sparse_sym_mat33.h
index c8af4a2..e4d4b3e 100644
--- a/include/bounce/cloth/sparse_sym_mat33.h
+++ b/include/bounce/sparse/sparse_sym_mat33.h
@@ -19,7 +19,7 @@
 #ifndef B3_SPARSE_SYM_MAT_33_H
 #define B3_SPARSE_SYM_MAT_33_H
 
-#include <bounce/cloth/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33.h>
 
 // A sparse symmetric matrix.
 // Each row is a list of non-zero elements in the row.
diff --git a/include/bounce/cloth/sparse_sym_mat33_view.h b/include/bounce/sparse/sparse_sym_mat33_view.h
similarity index 96%
rename from include/bounce/cloth/sparse_sym_mat33_view.h
rename to include/bounce/sparse/sparse_sym_mat33_view.h
index 269d4dc..7d944d6 100644
--- a/include/bounce/cloth/sparse_sym_mat33_view.h
+++ b/include/bounce/sparse/sparse_sym_mat33_view.h
@@ -19,8 +19,8 @@
 #ifndef B3_SPARSE_SYM_MAT_33_VIEW_H
 #define B3_SPARSE_SYM_MAT_33_VIEW_H
 
-#include <bounce/cloth/sparse_mat33_view.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
+#include <bounce/sparse/sparse_mat33_view.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
 
 // A read-only sparse symmetric matrix.
 struct b3SparseSymMat33View
diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index 2370c2a..e530d54 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -19,10 +19,10 @@
 #include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/force.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/diag_mat33.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
-#include <bounce/cloth/sparse_sym_mat33_view.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/diag_mat33.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
+#include <bounce/sparse/sparse_sym_mat33_view.h>
 #include <bounce/common/memory/stack_allocator.h>
 
 // Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 9cdc4c8..6bf66ab 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -18,7 +18,7 @@
 
 #include <bounce/cloth/cloth_solver.h>
 #include <bounce/cloth/cloth_force_solver.h>
-#include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/contacts/cloth_contact_solver.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/dynamics/shapes/shape.h>
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/contacts/cloth_contact_solver.cpp
similarity index 99%
rename from src/bounce/cloth/cloth_contact_solver.cpp
rename to src/bounce/cloth/contacts/cloth_contact_solver.cpp
index 8825734..ae715c6 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/contacts/cloth_contact_solver.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/contacts/cloth_contact_solver.h>
 #include <bounce/cloth/cloth_contact_manager.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
diff --git a/src/bounce/cloth/cloth_particle_body_contact.cpp b/src/bounce/cloth/contacts/cloth_particle_body_contact.cpp
similarity index 96%
rename from src/bounce/cloth/cloth_particle_body_contact.cpp
rename to src/bounce/cloth/contacts/cloth_particle_body_contact.cpp
index 54b3ed5..fb580f9 100644
--- a/src/bounce/cloth/cloth_particle_body_contact.cpp
+++ b/src/bounce/cloth/contacts/cloth_particle_body_contact.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_particle_body_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_body_contact.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
diff --git a/src/bounce/cloth/cloth_particle_triangle_contact.cpp b/src/bounce/cloth/contacts/cloth_particle_triangle_contact.cpp
similarity index 96%
rename from src/bounce/cloth/cloth_particle_triangle_contact.cpp
rename to src/bounce/cloth/contacts/cloth_particle_triangle_contact.cpp
index 8be1b1b..64d4073 100644
--- a/src/bounce/cloth/cloth_particle_triangle_contact.cpp
+++ b/src/bounce/cloth/contacts/cloth_particle_triangle_contact.cpp
@@ -16,13 +16,13 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_particle_triangle_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_triangle_contact.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/common/geometry.h>
 
-// 
+// Solve constrained Barycentric coordinates for point Q
 static void b3Solve3(float32 out[3],
 	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
 	const b3Vec3& Q)
diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
index e2d0265..1f687ae 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -19,8 +19,8 @@
 #include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_force_solver.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
 
 void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
 {
diff --git a/src/bounce/softbody/softbody_force_solver.cpp b/src/bounce/softbody/softbody_force_solver.cpp
index e35307d..3d7adbf 100644
--- a/src/bounce/softbody/softbody_force_solver.cpp
+++ b/src/bounce/softbody/softbody_force_solver.cpp
@@ -20,8 +20,8 @@
 #include <bounce/softbody/softbody_mesh.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/softbody/softbody.h>
-#include <bounce/cloth/sparse_mat33.h>
-#include <bounce/cloth/sparse_mat33_view.h>
+#include <bounce/sparse/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33_view.h>
 
 // This work is based on the paper "Interactive Virtual Materials" written by 
 // Matthias Mueller Fischer