Index: ps/trunk/binaries/data/mods/public/simulation/components/Formation.js
===================================================================
--- ps/trunk/binaries/data/mods/public/simulation/components/Formation.js
+++ ps/trunk/binaries/data/mods/public/simulation/components/Formation.js
@@ -85,7 +85,6 @@
 	"formationMembersWithAura",
 	"width",
 	"depth",
-	"oldOrientation",
 	"twinFormations",
 	"formationSeparation",
 	"offsets"
@@ -146,7 +145,6 @@
 	this.formationMembersWithAura = [];
 	this.width = 0;
 	this.depth = 0;
-	this.oldOrientation = { "sin": 0, "cos": 0 };
 	this.twinFormations = [];
 	// Distance from which two twin formations will merge into one.
 	this.formationSeparation = 0;
@@ -515,17 +513,12 @@
 
 	let offsetsChanged = false;
 	let newOrientation = this.GetEstimatedOrientation(avgpos);
-	let dSin = Math.abs(newOrientation.sin - this.oldOrientation.sin);
-	let dCos = Math.abs(newOrientation.cos - this.oldOrientation.cos);
-	// If the formation existed, only recalculate positions if the turning agle is somewhat large.
-	if (!this.offsets || dSin > 1 || dCos > 1)
+	if (!this.offsets)
 	{
 		this.offsets = this.ComputeFormationOffsets(active, positions);
 		offsetsChanged = true;
 	}
 
-	this.oldOrientation = newOrientation;
-
 	let xMax = 0;
 	let yMax = 0;
 	let xMin = 0;
Index: ps/trunk/binaries/data/mods/public/simulation/components/UnitAI.js
===================================================================
--- ps/trunk/binaries/data/mods/public/simulation/components/UnitAI.js
+++ ps/trunk/binaries/data/mods/public/simulation/components/UnitAI.js
@@ -941,13 +941,14 @@
 
 		"IDLE": {
 			"enter": function(msg) {
-				// Turn rearrange off. Otherwise, if the formation is idle,
-				// but individual units go off to fight, any death
-				// will rearrange the formation, looking odd.
+				// Turn rearrange off. Otherwise, if the formation is idle
+				// but individual units go off to fight,
+				// any death will rearrange the formation, which looks odd.
 				// Instead, move idle units in formation on a timer.
 				let cmpFormation = Engine.QueryInterface(this.entity, IID_Formation);
 				cmpFormation.SetRearrange(false);
-				this.StartTimer(0, 2000);
+				// Start the timer on the next turn to catch up with potential stragglers.
+				this.StartTimer(100, 2000);
 				this.isIdle = true;
 				this.CallMemberFunction("ResetIdle");
 				return false;
Index: ps/trunk/source/simulation2/components/CCmpUnitMotion.cpp
===================================================================
--- ps/trunk/source/simulation2/components/CCmpUnitMotion.cpp
+++ ps/trunk/source/simulation2/components/CCmpUnitMotion.cpp
@@ -1007,10 +1007,13 @@
 		if (cmpControllerMotion && cmpControllerMotion->IsMoveRequested())
 			return false;
 
+		// In formation, return a match only if we are exactly at the target position.
+		// Otherwise, units can go in an infinite "walzting" loop when the Idle formation timer
+		// reforms them.
 		CFixedVector2D targetPos;
 		ComputeTargetPosition(targetPos);
 		CmpPtr<ICmpPosition> cmpPosition(GetEntityHandle());
-		return cmpObstructionManager->IsInPointRange(GetEntityId(), targetPos.X, targetPos.Y, m_MoveRequest.m_MinRange, m_MoveRequest.m_MaxRange, false);
+		return (targetPos-cmpPosition->GetPosition2D()).CompareLength(fixed::Zero()) <= 0;
 	}
 	return false;
 }
@@ -1072,11 +1075,7 @@
 			target = CFixedVector2D(shortPath.m_Waypoints.back().x, shortPath.m_Waypoints.back().z);
 
 		CFixedVector2D offset = target - pos;
-		// Idle formations reorder their members to move to their offset, but numerical imprecisions can lead
-		// to small offsets every time. Units would then rotate in-place, looking odd.
-		// If the offset is small enough (epsilon is about 0.000015, so that's 0.0015 which is still irrelevant),
-		// simply don't turn.
-		if (turnRate > zero && offset.CompareLength(fixed::Epsilon() * 100) > 0)
+		if (turnRate > zero && !offset.IsZero())
 		{
 			fixed maxRotation = turnRate.Multiply(timeLeft);
 			fixed angleDiff = angle - atan2_approx(offset.X, offset.Y);