Comment by ivanjermakov

I noticed that when I write code that is not trivial to understand I tend to extract intermediate values into variables with meaningful names.

    applyDrag(): void {
        const { quad: quadConfig } = settings
        const quad = this.getRigidBody()
        const quadVel = vec3ToTwgl(quad.linvel())
        const dragMag = aerodynamicDrag(quadConfig.dragCoefficient, v3.length(quadVel), quadConfig.frontalArea)
        const dragDir = v3.negate(v3.normalize(quadVel))
        const dragForce = v3.mulScalar(dragDir, dragMag)
        const dragImpulse = v3.mulScalar(dragForce, dt)
        quad.applyImpulse(vec3TwglToRapier(dragImpulse), true)
    }

This way code gets more natural language anchors which helps understanding what it does.