Hi,
As stated in the original reply, as long as your firewall is patched into a VLAN-capable switch, you can create a separate VLAN for each of the networks (eg: VLAN-ID: 1681 = 192.168.1.0/24, VLAN-ID: 1682 = 192.168.2.0/24, VLAN-ID: 1683 = 192.168.3.0/24) and bind each VLAN to the same physical interface (eg: bge0). This will create three new interfaces, each bound to the same physical NIC but on separate VLANS. You can then set up your rules and NAT and routes for each of these new interfaces and be able to selectively route to any of the three routers you mentioned.
You have to be sure the three new VLANS are defined in your switch as well, otherwise your VLAN traffic won't route correctly.