I think you are looking for Power Stone. You can see the intro below:
The guy with red armor is Falcon
Falcon's Power Change is a red android-like form able to launch many missiles. He is also able to fly with the rocket on his back, but in the games, he only does so when using Power Rocket. In the anime finale, Falcon's second Power Change form, using the Light Stone, is a white jet-like android with black and yellow eyes and angelic wings.
The guy in samurai armor would be Ryoma.
Ryoma's Power Change is a beetle-like silver samurai with electric powers.
The girl with fire powers is Rouge:
Though her normal attack and defense abilities are relatively low, Rouge can wield her fire attacks from a long distance and inflict severe damage. Her running and jumping speeds are also higher than the other fighters.
During Power Change, she has a genie-like appearance with fiery hair. A fireball with an eye follows her. In the anime, she can summon a magic carpet that can fly after she rescues an injured Ryoma from a burning palace, absorbing the flames in the burning shipwreck and can melt the ice when she was in her flaming appearance.