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When you attack a unit using melee, they get to melee counterattack, assuming you are attacking from their zone of control (the front 3 squares, indicated by crossed swords). Unless you charge. You can only charge on your first movement, and it has to be a direct line to the target. You get 1 extra MP when you charge. You also can’t charge if you are in the square next to the target when you start (this will be just a normal melee attack).
When you charge a target, they get to use a Pistol Reaction (assuming they have a pistol-type weapon and you are charging from their front). If you simply attack a target (ie you attack from an adjacent square), even if you are in their zone of control (crossed swords), they don’t get to use their Pistol Reaction.
Some units Pistol Reactions will Suppress and cause you to lose MP. If you lose enough MP, it will cause you to break off the charge (you will lose your AP and won’t actually attack).
Some units have weapons that are classified as Pistols, but it isn’t obvious (Termagants with Spinefists, for example).
BL: The benefit of charging is you negate the melee counter attack. But when you charge, the target gets a Pistol Reaction. Definitely charge targets that don’t have pistols, especially if they have a strong melee attack. It’s dangerous to charge units with Pistols. Some units have both (Assault Marines, for example). In this case, you have to choose which is more important.
Some abilities count as charges regardless of any other circumstances. Most notable is Hormagaunts' 1-tile leap, which the AI loves to use even if it gets them killed.
Melee Jump Infantry (Assault Marines, Death Company, Stormboyz) will Charge when they use their ability.
Units like Thornback, Skull Cannon, and Blood Crusher are vulnerable to Pistol Reaction when they use their ability.
I'm pretty sure I've had Venomthropes I couldn't run by, but then either killed one of them or had a unit land behind them, and then I could run by with the original unit.
The key is the 'engaged' debuff. If you engage a unit with melee attacks, it loses its zone of control against any unit but its engager. If you have multiple units that have melee'd a single target, you can see which one is engaging by clicking the enemy and mousing over the debuff, and you can change which one it is by facing your units away and back again in the right order.
Also be aware that some large units can only be engaged by other large units. This used to be only the original BA and Tyranid units (meaning except the Invictor), but apparently the devs realised this was a mechanic and added it to Deff Dreads recently. I don't know if any other units were changed too.
The only thing you should be seeing is 1 more MP and the target not being able to melee counter attack (and using a pistol counter attack, if applicable).