Development of Tire Contact Model on Soft Soil

Hi, we are working on the support of soft soil modeling in PhysX and function we are looking at is PxVehicleComputeTireForce (https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Vehicles.html#tire-shaders).

I have looked into teh example of the implementation. However, in order to models oft soil, we need to know the terrain type and tire perpetration into the ground. How could we get it?

Thanks for attention,