If the spears of Hoplites etc. disappearing into the ground bothers you. Then try Fanatic's mod. near the top in the Unofficial mod section. It improves the way that hoplites fight, making them stick together in a tighter formation. It also forces them to hold their spears level while they move. So they don't stick in the ground. There are screenshots in the thread. Haven't actually had a chance to try it myself but seems impressive.