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In the book they rode out with far more men than the film shows and countercharged by themselves,

Gandlalf flanked the army with Erkenbrand, represented quite reasonably by Eomer himself to condense characters.

The tree army dealt with the rest of the orcs

Also there was no elf army at Helms Deep at all, and the Kings company was powerful enough to rout the orcs from the walls of Helms deep before Ganadlf turned up or the trees magickally appeared.

The film shows this very poorly as a handful of knights charging into mass rank heavy infantry would just get squished in short order.

Jackson made some fairly daft decisions with the numbers of the Rohirrim, in Helms deep they had far more, more than enough to sally forth at dawn. At the Pelennor fields they had far less, and rode though Easterling cavalry who had greater numbers but had less skill and valour. Jackson tripled up the numvers to make ther Rohirrim army look impressive, it was going to look impressive anyway but the idea was that the Rohirrim were elite, tghe finest cavalry in middle earth, not some horse horde army.