It's true. Any quality centerfire revolver (S&W, Colt, Ruger, etc) is safe to dry fire extensively. For guns that are excessively dryfired, and by this I mean several hundreds of cycles each day, EVERY day, there will be the rare broken hammer nose (striker) or deformed frame-mounted firing pin. Other than that, it is not worth worrying about.
Semi auto pistols generally are also not damaged by dry firing. There are a few exceptions, however. The old Star Model A, B, and BM series have firing pins retained by cross pins hidden under the rear sight. This design will break firing pins with regularity if dry fired. The constant impact with the cross pin is what does the damage.
Even with the sturdy M1911 and Browning M1935 designs, pistols used for extensive training commonly suffer from peened firing pin heads, which can cause the fp to stick in the fp retainer plate.