diff --git a/ChangeLog.txt b/ChangeLog.txt
index 1fd86ad8b..5ed7e2e62 100644
--- a/ChangeLog.txt
+++ b/ChangeLog.txt
@@ -1,6 +1,16 @@
 Bullet Continuous Collision Detection and Physics Library
 Primary author and maintainer: Erwin Coumans
 
+2007 Aug 31
+	- fixed MSVC 6 build
+	Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
+	- fixed double precision build issues
+	Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
+
+2007 Aug 24
+	- fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
+	Thanks to Jay Lee
+	
 2007 Aug 15
 	- fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
 	Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
diff --git a/src/Bullet-C-Api.h b/src/Bullet-C-Api.h
index e9e7ee760..1cce4efa8 100644
--- a/src/Bullet-C-Api.h
+++ b/src/Bullet-C-Api.h
@@ -25,7 +25,12 @@ subject to the following restrictions:
 
 #define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
 
+#ifdef BT_USE_DOUBLE_PRECISION
+typedef double	plReal;
+#else
 typedef float	plReal;
+#endif
+
 typedef plReal	plVector3[3];
 typedef plReal	plQuaternion[4];
 
diff --git a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
index a94fa861c..98c57acdb 100644
--- a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
@@ -35,8 +35,8 @@ btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies)
 		// return true when pairs need collision
 		virtual bool	needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
 		{
-			btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
-			btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
+			btMultiSapBroadphase::btMultiSapProxy* multiSapProxy0 = (btMultiSapBroadphase::btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
+			btMultiSapBroadphase::btMultiSapProxy* multiSapProxy1 = (btMultiSapBroadphase::btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
 			
 			bool collides = (multiSapProxy0->m_collisionFilterGroup & multiSapProxy1->m_collisionFilterMask) != 0;
 			collides = collides && (multiSapProxy1->m_collisionFilterGroup & multiSapProxy0->m_collisionFilterMask);
diff --git a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
index f7199248e..60ebc61ef 100644
--- a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+++ b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
@@ -46,6 +46,8 @@ class btMultiSapBroadphase :public btBroadphaseInterface
 		btBroadphaseInterface*	m_childBroadphase;
 	};
 
+public:
+
 	struct	btMultiSapProxy	: public btBroadphaseProxy
 	{
 
@@ -73,6 +75,8 @@ class btMultiSapBroadphase :public btBroadphaseInterface
 		
 	};
 
+protected:
+
 	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
 
 public:
diff --git a/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
index 772806a0a..630052849 100644
--- a/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
@@ -110,5 +110,5 @@ int		btUniformScalingShape::getNumPreferredPenetrationDirections() const
 	
 void	btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 {
-	return m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
+	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
 }
diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index a841fef73..c95d5d903 100644
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -248,7 +248,7 @@ void	btConeTwistConstraint::solveConstraint(btScalar	timeStep)
 
 			// Clamp the accumulated impulse
 			btScalar temp = m_accSwingLimitImpulse;
-			m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, 0.0f );
+			m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) );
 			impulseMag = m_accSwingLimitImpulse - temp;
 
 			btVector3 impulse = m_swingAxis * impulseMag;
@@ -266,7 +266,7 @@ void	btConeTwistConstraint::solveConstraint(btScalar	timeStep)
 
 			// Clamp the accumulated impulse
 			btScalar temp = m_accTwistLimitImpulse;
-			m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, 0.0f );
+			m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
 			impulseMag = m_accTwistLimitImpulse - temp;
 
 			btVector3 impulse = m_twistAxis * impulseMag;