I got a reply from the author himself, and here’s the answer:
It’s nothing complex, you just want a force that pushes against the direction an object is moving, that scales with the square of its speed.
So, do this in FixedUpdate:
float drag = -0.1f; //(or some other negative number, you’ll need to tune it)
Vector3 force = drag * myRigidbody.velocity.normalized * myRigidbody.velocity.sqrMagnitude;
myRigidbody.ApplyForce(force);