The 6th gen is the 128-bit era, this is the time of the ps2, xbox, game cube and sega dreamcast, there was apperintly another console called the XaviXPort but i never heard of it. This era ended arounf 2005 when the xbox 360 came out.
The third of series, Demon Siege 3.
You play as Samanosuke Akechi, and the second character, Jacques (Jean Reno?)
The game set in both present and past days.
Samanosuke akechi appear in present days (modern days with car/building/etc) and Jacques/Jean Reno will appear in the past against the mighty demon lord Nobunaga