The rover (rocker-bogie, 6 wheels, wheel radius 0.26 m, wheelbase 2.3 m) rides on the same procedural terrain as the 3D version:
h(x) = 1.4 sin(.15x)cos(.13z) + 0.6 sin(.35x+3.1)cos(.4z) + 0.25 sin(.9x+.7z) + ...
body height = (y_front + (y_mid + y_rear)/2) / 2
pitch = atan((y_front - y_bogie) / L)
slip = clamp((tan(slope) - mu) / 0.5, 0, 1)
P = m g_mars (sin(slope) + c_rr) v / eta
Mars gravity is 3.71 m/s2. Steep slopes beyond the soil friction angle cause slip and reduced progress; the tip margin is the distance of the pitch angle from the static tipping limit.