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Hmmmm......

By the name you gave, it could be Illusion of Gaia.


But it is possible that it's Secret of Mana.

1944: The Loop Master?
http://www.arcade-history.com/images/game/10_1.png

Was it in a Neo Geo Machine?
If so, it could be the sequel.
http://t2.gstatic.com/images?q=tbn:ANd9GcReCJModZep6m9TKUcWywF-HmvOZqSAEeAgGEkrPNJw9sYmPogNJw

Is it Alpha Mission?
http://www.arcade-history.com/images/game/3903_1.png

Maybe the game you are talking about is Mystic Heroes? It was for PS2 and GC.