This feature allows the software to recognize:

• The type of soil, its characteristics,
• The tire deformation
• The soil deformation upon impact, depending on the position of the wheels. The model also takes into account what happens at each wheel (front, rear…)
•  The tire-ground contact surface and the interactions in the ruts.

In the driving simulation, this function finely calculates the resistive forces, in particular due to the height of any excess soil (or other material) forming just in front of the tire, the depth of the ruts, and updates the grip at each time step according to the area of the surface in contact.