This is depicting a scene which would be considered as slightly outside of the Medieval Era. I think it's fair to count Alatriste as a decent depiction of combat during the Dutch Revolt. What you see in this scene:

1. A tercio formed by a mix of pike and shot. The scene shows the basic function and formation of a tercio decently. Historically, a tercio was a large square formation of infantry, mixed between arqbuesiers/musketeers and pikes-men. They would fight be slowly advancing upon the enemy in formation while the pikes and shot provided mutual support to each other. Once enemy formations were encountered the battle would come down to a push of pike whereby each line would endeavour to break the others formation or exploit a weakness.
2. The cavalry attacking a shown using what looks to be wheel lock pistols and sabres: the correct armaments for cavalry at the time. Units of lancers did exist as well, but it makes sense that they aren't necessarily shown here. Also, the tactic the cavalry falls into of galloping up to the the tercio and shooting before turning aside is historically accurate. It is known as a caracole.

There are of course the usual heroics of a single man going on a killing rampage but what can you do.