*The Pilums
There are 3 main types used by the roman army. A socketed one (light) and 2 variations of the same design. One with the soft head (difficult to produce soft iron that can repeatedly be repaired) and the other with a wodden peg that broke the javelin hit something and made the weapon useless (supposedely invented by Marius).
*Pointy Sticks
I'ts not just the "pointy sticks" that work as a deterrant for cavalry. Infantry in close ranks is effectively a wall that *most* cavalry will shy away in the final moments of the charge. The main force of the cavalry was the ability to hit the flanks and rear of the enemy line or cause it to break ranks and allow it to exploit the gaps. Dromikaites is absolutely right.
The epitome of the heavy shock cavalry, the central-European fully armoured knight in a gigantic horse was an impressive sight indeed, but ultimately defeatable by a determined and disciplined army.
The best source we have about serious cavalry warfare (and how it actually fared) is when it was declining in importance (XVII and XVIII wars). Infantry squares in the Napoleonic wars were all but impervious to cavalry, and all they had was a stick with a pointy thing glued to the barrel. Cavalry would charge the squares and forced to switch to carbines and circle almost harmelessly around the individual squares, if the infantry held firm.
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