diff --git a/OpenMetaverse/Helpers.cs b/OpenMetaverse/Helpers.cs
index bc4188c4..74294126 100644
--- a/OpenMetaverse/Helpers.cs
+++ b/OpenMetaverse/Helpers.cs
@@ -591,6 +591,19 @@ namespace OpenMetaverse
             }
         }
 
+        /// <summary>
+        /// Converts a byte array to a string containing hexadecimal characters
+        /// </summary>
+        /// <param name="bytes">The byte array to convert to a string</param>
+        /// <param name="fieldName">The name of the field to prepend to each
+        /// line of the string</param>
+        /// <returns>A string containing hexadecimal characters on multiple
+        /// lines. Each line is prepended with the field name</returns>
+        public static string FieldToHexString(byte[] bytes, string fieldName)
+        {
+            return FieldToHexString(bytes, bytes.Length, fieldName);
+        }
+
         /// <summary>
         /// Converts a byte array to a string containing hexadecimal characters
         /// </summary>
diff --git a/OpenMetaverse/Simulator.cs b/OpenMetaverse/Simulator.cs
index aeb9bd2c..693b177f 100644
--- a/OpenMetaverse/Simulator.cs
+++ b/OpenMetaverse/Simulator.cs
@@ -841,7 +841,7 @@ namespace OpenMetaverse
             {
                 packet = Packet.BuildPacket(buffer.Data, ref packetEnd, buffer.ZeroData);
             }
-            catch (MalformedDataException ex)
+            catch (MalformedDataException)
             {
                 Logger.Log(String.Format("Malformed data, cannot parse packet:\n{0}",
                     Helpers.FieldToHexString(buffer.Data, buffer.DataLength, null)), Helpers.LogLevel.Error);
diff --git a/OpenMetaverse/TerrainManager.cs b/OpenMetaverse/TerrainManager.cs
index 471c240f..ce1cbbb2 100644
--- a/OpenMetaverse/TerrainManager.cs
+++ b/OpenMetaverse/TerrainManager.cs
@@ -823,9 +823,10 @@ namespace OpenMetaverse
 
                 if (x >= PATCHES_PER_EDGE || y >= PATCHES_PER_EDGE)
                 {
-                    Logger.Log("Invalid LayerData land packet, x = " + x + ", y = " + y + ", dc_offset = " +
-                        header.DCOffset + ", range = " + header.Range + ", quant_wbits = " + header.QuantWBits +
-                        ", patchids = " + header.PatchIDs + ", count = " + count, Helpers.LogLevel.Warning, Client);
+                    Logger.Log(String.Format(
+                        "Invalid LayerData land packet, x={0}, y={1}, dc_offset={2}, range={3}, quant_wbits={4}, patchids={5}, count={6}",
+                        x, y, header.DCOffset, header.Range, header.QuantWBits, header.PatchIDs, count),
+                        Helpers.LogLevel.Warning, Client);
                     return;
                 }
 
diff --git a/OpenMetaverse/Types/Quaternion.cs b/OpenMetaverse/Types/Quaternion.cs
index a7a537fc..57e26b1b 100644
--- a/OpenMetaverse/Types/Quaternion.cs
+++ b/OpenMetaverse/Types/Quaternion.cs
@@ -114,12 +114,12 @@ namespace OpenMetaverse
 
         public float Length()
         {
-            return (float)Math.Sqrt(W * W + X * X + Y * Y + Z * Z);
+            return (float)Math.Sqrt(X * X + Y * Y + Z * Z + W * W);
         }
 
         public float LengthSquared()
         {
-            return (W * W + X * X + Y * Y + Z * Z);
+            return (X * X + Y * Y + Z * Z + W * W);
         }
 
         /// <summary>
@@ -315,6 +315,33 @@ namespace OpenMetaverse
             }
         }
 
+        /// <summary>
+        /// Conver this quaternion to an angle around an axis
+        /// </summary>
+        /// <param name="axis">Unit vector describing the axis</param>
+        /// <param name="angle">Angle around the axis, in radians</param>
+        public void GetAxisAngle(out Vector3 axis, out float angle)
+        {
+            axis = new Vector3();
+            float scale = (float)Math.Sqrt(X * X + Y * Y + Z * Z);
+
+            if (scale < Single.Epsilon || W > 1.0f || W < -1.0f)
+            {
+                angle = 0.0f;
+                axis.X = 0.0f;
+                axis.Y = 1.0f;
+                axis.Z = 0.0f;
+            }
+            else
+            {
+                angle = 2.0f * (float)Math.Acos(W);
+                float ooscale = 1f / scale;
+                axis.X = X * ooscale;
+                axis.Y = Y * ooscale;
+                axis.Z = Z * ooscale;
+            }
+        }
+
         #endregion Public Methods
 
         #region Static Methods
diff --git a/Programs/examples/TestClient/TestClient.cs b/Programs/examples/TestClient/TestClient.cs
index af544fa8..c72418a9 100644
--- a/Programs/examples/TestClient/TestClient.cs
+++ b/Programs/examples/TestClient/TestClient.cs
@@ -29,8 +29,6 @@ namespace OpenMetaverse.TestClient
         private Vector3 left = new Vector3(0.9999f, 0, 0);
         private Vector3 up = new Vector3(0, 0, 0.9999f);
         private System.Timers.Timer updateTimer;
-        public Inventory InventoryStore;
-        public Inventory LibraryStore;
 
         /// <summary>
         /// 
diff --git a/bin/openjpeg-libsl.dll b/bin/openjpeg-libsl.dll
deleted file mode 100644
index b3e89105..00000000
Binary files a/bin/openjpeg-libsl.dll and /dev/null differ