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Scenario:
PCs are actively engaged in battle with multiple enemies.
One enemy has been hiding in another room for a few rounds and finally rushes out at them, joining the battle. He would move and attack on the same turn.
Does that enemy catch the PCs by surprise (sneak attack) because they were unaware of his presence?
Or would they roll for perception to see him entering the room and have a chance to raise their defenses?

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The way I see it, he could do whatever he wanted pretty much before entering combat. He is not really in initiative, per se, but would still be treated that way for the length of certain tasks.
He could bsically get into the most advantagious position before opening the door, so for example prepair to Charge, for when he does enter combat.
As soon as he does enter the room, he should get a Surprize round, for example to Charge and Sneak Attack someone. At that same time, everyone should get a chance to see him, and he would roll innitiative at that time, but it wouldn't apply just yet.
So, he can act during the surprize round, and than his initiative kicks in. If it is higher or equal too the current initiative count, he may actually go again right now as a normal action. If it is lower, than after taking that surprize round, he has to wait until his initiative come up. Anyone who has not yet acted between the time of his Surprize Action, and his 1st turn, is Flat Footed to him (only). If he had acted in a way that did not reveal himself yet, such as attempting to sneak into the room and being not detected, everyone that didn't see him would still be Flat Footed, (again to him only).
After that point, it is treated just like normal. He would act upon his initiative score, and no one would be Flat Footed unless he does something to make them so.

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To simplify things, whenever the enemy jumps out, I would just set that point as his initiative. No further rolls needed.
In terms of a successful sneak attack, what's the difference between a guy running 20 ft into a room and a rogue jumping from the nearby shadows?
I suppose it depends on how much noise the guy makes when he runs into the room.
Would the target of a rogue's sneak attack also get to roll a perception check to see the rogue coming?

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I assume that if the party is in combat, there is no "surprise" round. Rather, if another enemy enters the fray, I'll roll initiative secretly and introduce them when it becomes apparent. If I don't like their initiative number, they can always hold their initiative to the most advantageous moment.
In short, the party is engaged in combat and isn't going to be flat-footed. However, if they get flanked that's another matter.
Surprise to me is an unaware state as to immediate danger.

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So, if you're in battle, you are alert and your defenses are up, therefore you cannot be surprised.
Then how do rogues perform sneak attacks (other than flanking) in battle?
I know that there are no facing rules, but if you're focusing on the enemies at hand, wouldn't that distract your attention from noticing a sneaky enemy coming in from behind?
I'm digging the idea of using perception to see if the PCs notice him approaching. PCs who notice would not be flat-footed, but PCs who fail the perception check would be flat-footed.
I think it would depend on how much of a spectacle the enemy makes.
If he kicks open the door and charges in willy-nilly, then the PCs would probably notice him.
If he tries to be sneaky, stealthy and silent, then I'd give him a chance to catch the PCs by surprise.
Does that sound fair?