diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index 192cc667c..898703edb 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -565,7 +565,7 @@ static SIMD_FORCE_INLINE bool continuousCollisionDetection(const btSoftBody::Fac
     btScalar a3 = c.dot(e);
     btScalar eps = SAFE_EPSILON;
     int num_roots = 0;
-    float roots[3];
+    btScalar roots[3];
     if (std::abs(a3) < eps)
     {
         // cubic term is zero
diff --git a/src/BulletSoftBody/poly34.h b/src/BulletSoftBody/poly34.h
index d6ae8664e..32ad5d7da 100644
--- a/src/BulletSoftBody/poly34.h
+++ b/src/BulletSoftBody/poly34.h
@@ -4,35 +4,35 @@
 
 #ifndef POLY_34
 #define POLY_34
-#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
+#include "LinearMath/btScalar.h"
 // x - array of size 2
 // return 2: 2 real roots x[0], x[1]
 // return 0: pair of complex roots: x[0]i*x[1]
-int SolveP2(float* x, float a, float b); // solve equation x^2 + a*x + b = 0
+int SolveP2(btScalar* x, btScalar a, btScalar b); // solve equation x^2 + a*x + b = 0
 
 // x - array of size 3
 // return 3: 3 real roots x[0], x[1], x[2]
 // return 1: 1 real root x[0] and pair of complex roots: x[1]i*x[2]
-int SolveP3(float* x, float a, float b, float c); // solve cubic equation x^3 + a*x^2 + b*x + c = 0
+int SolveP3(btScalar* x, btScalar a, btScalar b, btScalar c); // solve cubic equation x^3 + a*x^2 + b*x + c = 0
 
 // x - array of size 4
 // return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
 // return 2: 2 real roots x[0], x[1] and complex x[2]i*x[3],
 // return 0: two pair of complex roots: x[0]i*x[1],  x[2]i*x[3],
-int SolveP4(float* x, float a, float b, float c, float d); // solve equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method
+int SolveP4(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d); // solve equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method
 
 // x - array of size 5
 // return 5: 5 real roots x[0], x[1], x[2], x[3], x[4], possible multiple roots
 // return 3: 3 real roots x[0], x[1], x[2] and complex x[3]i*x[4],
 // return 1: 1 real root x[0] and two pair of complex roots: x[1]i*x[2],  x[3]i*x[4],
-int SolveP5(float* x, float a, float b, float c, float d, float e); // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
+int SolveP5(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d, btScalar e); // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
 
 //-----------------------------------------------------------------------------
 // And some additional functions for internal use.
 // Your may remove this definitions from here
-int SolveP4Bi(float* x, float b, float d); // solve equation x^4 + b*x^2 + d = 0
-int SolveP4De(float* x, float b, float c, float d); // solve equation x^4 + b*x^2 + c*x + d = 0
-void CSqrt(float x, float y, float& a, float& b); // returns as a+i*s,  sqrt(x+i*y)
-float N4Step(float x, float a, float b, float c, float d); // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
-float SolveP5_1(float a, float b, float c, float d, float e); // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
+int SolveP4Bi(btScalar* x, btScalar b, btScalar d); // solve equation x^4 + b*x^2 + d = 0
+int SolveP4De(btScalar* x, btScalar b, btScalar c, btScalar d); // solve equation x^4 + b*x^2 + c*x + d = 0
+void CSqrt(btScalar x, btScalar y, btScalar& a, btScalar& b); // returns as a+i*s,  sqrt(x+i*y)
+btScalar N4Step(btScalar x, btScalar a, btScalar b, btScalar c, btScalar d); // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
+btScalar SolveP5_1(btScalar a, btScalar b, btScalar c, btScalar d, btScalar e); // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
 #endif