In this clip in '99 by Jason Newsted, about :45 into it he's using a pick but it sounds like slapping. Is it just him hitting the strings really hard or is there more to it?
You can achieve a sound similar to slap by picking very hard, a bit past the end of the fretboard. The space between the fretboard and P pickup/neck J pickup seems best for it. Work on it and you'll be able to adjust your technique till it sounds the way you want it to.