I'd just make it so you issue orders for the characters (possibly including field position) in real time then characters carry those orders out when their action bar fills. If no order was given they'd just auto attack. Then the AI could figure out pathing amd handle animations to make the fight play out more cinematically.
Kind of an advanced version of [i]Grandia[/i]'s battle system but you issue commands at any time and the combat is continuous.
And, of course, I'd add the option to tweak the speed (in case you feel it's too fast or too slow) and/or have the game pause when your attack bar filled if you really preferred old school. Probably add a "fast forward" option, a la [i]World of Final Fantasy[/i], as well.
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Wasn’t there a Final Fantasy that was about trying to come up with the best sets of commands for your party to automatically battle with?
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[i]XII[/i] but that was completely different. In [i]XII[/i] you're effectively programming or training your own AI so you can walk away. In my system you're basically negating the need to spam basic attack but still need to focus on special/situational abilities.