Matt, Greg, and I are super-excited to release a free online edition of the Physically Based Rendering Book with hyperlinked cross-referencing, beautiful SVG figures and equations as well as interactive image comparisons. The details of how all of this came to be are explained in the preface to the online edition. (http://www.pbr-book.org/3ed-2018/Preface_to_the_Online_Editi...)
In section 2.9.1 Quaternions, 4th paragraph reads as if it's missing an equation for the second representation of a quaternion:
A quaternion can be represented as a quadruple [EQ present] or as [EQ missing] , where is an imaginary 3-vector and is the real part. We will use both representations interchangeably in this section.
Really great work. I think this book has been exceptionally valuable to many people over a long period of time, and likely raised the overall level of raytracing knowledge among graphics programmers by a large amount.
Awesome, I just recently bought both the print and eBook editions as I start to dive into DirectX ray tracing, this looks like it will be a great complement!