GameDoc
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If you can't make 4E fit the bill, I would suggest also looking at Castles & Crusades. It's not as flashy or versatile as D&D and was designed as a sort of hybrid between AD&D & d20.
However, it's easy to housrule without breaking the system (actually designed that way on purpose) and they have recently released "Fields of Battle" supplement for using miniatures, which tells you how to use PC's and Monsters created using their Player's Guide and Monster books in a wargaming setup. It's actually probably the best system I have seen for seamlessly translating between it's own RPG and wargaming/miniature rules.
I love both Warhammer tabletop and Warhammer FRP (well, the previous edition at least), but was always frustrated that you couldn't just drop your character from the FRP into a tabletop battle as a hero in your army. You basically had to make two versions. Never got into D&D mini's as a stand alone game, mostly beacuse on the surface it looked to be the same way.
However, it's easy to housrule without breaking the system (actually designed that way on purpose) and they have recently released "Fields of Battle" supplement for using miniatures, which tells you how to use PC's and Monsters created using their Player's Guide and Monster books in a wargaming setup. It's actually probably the best system I have seen for seamlessly translating between it's own RPG and wargaming/miniature rules.
I love both Warhammer tabletop and Warhammer FRP (well, the previous edition at least), but was always frustrated that you couldn't just drop your character from the FRP into a tabletop battle as a hero in your army. You basically had to make two versions. Never got into D&D mini's as a stand alone game, mostly beacuse on the surface it looked to be the same way.