diff --git a/readme.md b/readme.md
index 4a992d9..d07e26c 100644
--- a/readme.md
+++ b/readme.md
@@ -104,8 +104,6 @@ Below are the external dependencies for testbed. If you don't care about testbed
 ### Dynamics
 
 * Rigid bodies
-* Cloth
-* Soft body
 * Contact, friction, restitution
 * Mouse, spring, sphere, cone, revolute joint types
 * Quaternion constraints
@@ -119,6 +117,27 @@ Below are the external dependencies for testbed. If you don't care about testbed
 * Contact callbacks: begin, pre-solve, post-solve
 * Ray-casting and volume queries
 
+### Rope
+
+* Rope 
+* Linear time solver
+
+### Cloth
+
+* Cloth
+* Vertex contact, friction
+* Linear time solver
+* Unconditional simulation stability
+* Ray-casting 
+
+### Soft Body
+
+* Soft body
+* Vertex contact, friction
+* Linear time solver
+* Unconditional simulation stability
+* Ray-casting 
+
 ### Testbed
 	
 * OpenGL with GLFW and GLAD