L3=3;
L2=3*2^(1/2);
theta=2.511671398409057;
x=g(theta);
y=h(theta);
gamma=pi/4;
x1=5;
x2=0;
y2=6;
plot([x x+L3*cos(theta) x+L2*cos(theta+gamma) x],[y y+L3*sin(theta) y+L2*sin(theta+gamma) y],'r'); hold on
plot([0 x1 x2],[0 0 y2],'bo'); hold on
plot([0 x],[0 y],'g',[x1 x+L3*cos(theta)],[0 y+L3*sin(theta)],'g',[x2 x+L2*cos(theta+gamma)],[y2 y+L2*sin(theta+gamma)],'g');
axis square;