Drone example aerodynamics

[sebastienwood]

Hi !
Thanks for the great work behind Genesis :)

In the drone example, there is the following mention :

The simulation uses realistic physics including gravity and aerodynamics

I tried to look up where does the gravity and aerodynamics are coded, without success.
The underlying questions I'm looking into are the atmospheric models used in the simulation.
I went through the drone entity, up to the rigid body solver, where I found the set_drone_rpm method, and I'm now lost in the inner workings of the engine.
Is there any good place I could start looking into ?

Furthermore, I suppose these physicals models cannot be perfect in a sim2real scenario. Is there a good way to anticipate these issues with Genesis at the moment ?

Thanks !