def METHOD_NAME(self):
    """Apply a quadratic damping force"""
    velocity = np.array(self.body.getLinearVel(), dtype=np.float32)
    norm_velocity = np.linalg.norm(velocity)
    if not np.isclose(norm_velocity, 0.0):
        force = velocity * norm_velocity * self._linear_damping_coeff
        self.body.addForce(force)