To me, sentences "I hate that you can swim and I can't" and "I hate it that you can swim and I can't" are both correct, and including an impersonal "it" is only a matter of personal style. However, from what I understood, the book is suggesting that it is wrong to exclude "it" and say "I hate that you can swim so well." I was wondering how native speakers of English would feel about this.
P.S. the name of the book is Grammar in Use -- Advanced