Since strings are lists of characters in Python, we can concatenate strings the same way we concatenate lists (with the + sign):
{{ var1 + '-' + var2 + '-' + var3 }}
If you want to pipe the resulting string to some filter, make sure you enclose the bits in parentheses:
e.g. To concatenate our 3 vars, and get a sha512 hash:
{{ (var1 + var2 + var3) | hash('sha512') }}
Note: this works on Ansible 2.3. I haven't tested it on earlier versions.