COLLADA book
The COLLADA Book was published in August 2006 by AK Peters

Erratum
- page 125
The 1D tangent equation is incorrect. It should be:
Note that 1D tangents are obsolete, most implementations are now using 2D tangents.
- page 163
The arrows on the Figure 7.22 are incorrectly blended together. Here's what the picture should be: