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SOQL Multiple Fields on Two Objects

I have a trigger iterating over an Asset object.  There are 3 fields on the Asset object that are needed be exactly the same values that are on a Contract object.  The most recent Contract object's end date (that match these 3 fields) will populate a field on the Asset object.  I can't determine if there is a way to do a query on the Contract object.  The workaround I have done is to create a formula field on the Contract object that concatenates the 3 fields; then I create a list of the 3 concatenated Asset fields; finally I query the Contract object's formula field using the list of concatenated fields.  Is there another solution without this workaround?

How Contract and Asset objeat are related,I don't see any standard relationship between them.Have you created ant custom relationship netween them ??