This setup uses a solver that builds an extruded mesh out of all the places your character intersects with the ground (see CGwiki). One is timeshifted to the final frame of your timeslider to build a set of fracture points for the RBD material fracture node, the other is not timeshifted and is generated as the intersections happen. The distance from the generated one is used to randomly rotate the prim intrinsic using the below VEX code and get the appearence of cracks forming under your characters foot!
float angle = @distSphere * 0.25;
vector axis = rand(@ptnum);
matrix3 m = ident();
rotate(m, angle, axis);
setprimintrinsic(0, ‘transform’, @ptnum, m, ‘set’);