function [x,y] = Project1xy(x1,x2,y2,L1,L2,L3,gamma,p1,p2,p3,theta)
A2=L3.*cos(theta)-x1;
B2=L3.*sin(theta);
A3=L2.*cos(theta+gamma)-x2;
B3=L2.*sin(theta+gamma)-y2;

N1=B3.*(p2.^2-p1.^2-A2.^2-B2.^2)-B2.*(p3.^2-p1.^2-A3.^2-B3.^2);
N2=-A3.*(p2.^2-p1.^2-A2.^2-B2.^2)+A2.*(p3.^2-p1.^2-A3.^2-B3.^2);
D=2.*(A2.*B3-B2.*A3);
x = N1/D;
y = N2/D;

%p1 = sqrt(x^2 + y^2)
%p2 = sqrt((x+A2)^2 + (y+B2)^2)
%p3 = sqrt((x+A3)^2 + (y+B3)^2)

end