creating a foot that get into the mud!!

[FloydBishop]

You can do it that way, but an animated displacement map could work well also. Here are some tutorials that might help you.

Tutorial on Animated Displacement (http://3d-synthesis.com/Displacement_Tutorial.html)

and

Maya Fluids for Mud, Snow, Etc from Digital Tutors (http://www.digitaltutors.com/digital_tutors/video.php?v=570&f=q)

and

Here is a way within Maya using textures (http://forums.cgsociety.org/showthread.php?t=97893&highlight=%22footprints%22+%22snow%22)

[isoparmB]

For the soft body solution, you could try lowering the conserve of the particles on your soft body object. This will make them dissipate their energy faster, and cause them to slow down when no additional force is applied.

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