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Sega just released the trailer for Sonic Forces in the occasion of the E3 2017 and it shows us the bad guys in the story as well as a mysterious and powerful enemy called Infinite. Sonic Forces shows Chaos (Sonic Adventure), Shadow (Sonic Adventure 2), Metal Sonic (Sonic CD), Eggman aka Robotnik, and Zavok (Sonic Lost World).
Note that Infinite is an enemy who joins the ranks of the famous Eggman and his group of which the characters quoted just before. As a reminder, know that Sonic Forces will be released on PlayStation 4, Xbox One, Switch and PC for this Winter.