First of all - no, this is not good for SEO. not sure that at the moment it is hurting your website but it is far from begin best practice and might cause problems in the future.
I think that EGOL's solution is the best for this issue,
Combining all the 3 versions into one page with "select your format" is the best solution for users and search engines.
if you take this approach (although it means that you need to develop it into your website) the best thing will be to 301 redirect all the URL's into one for every product.
If you rather leave the pages as they are and only deal with the duplication then Canonical tag, as Justin suggested, will be good practice.
I would go with solution NO. 1
Good luck!