Watchman

The higher-grade infantry of the Low Countries, northern Italy, Scandinavia (which out of necessity retained much of "Viking" approaches to combat long into the Middle Ages) and probably Germany were probably well enough drilled that they may have been (and definitely were, in the case of Scandinavia at least) capable of "articulated" offensives, though.
Normally heavy infantry fought in a dense shieldwall (as mentioned above); there's not much room for individual combat there, rather unit cohesion and teamwork is everything. Dismounted knights, being considerably better armed and trained than most foot troops, would have been better capable of carrying themselves in more open-order and indivdualistic fashion if necessary, but normally fought in similarly dense ranks (they were in fact often spread out among the common foot to stiffen the line and add some punch to it).
I would like to add the swiss and the scots to that in the 14th century.

a frequently used formation was also the schiltrom or crownformation. Infantry formed a circle or halfcircle in which infantry was closely packed together, this formation deemed very hard to break for knights but was an easy target for trained archers.

still I would recommend the book the art of warfare in western europe during the middle ages. it has answers to all your questions...