How to draw / create a beam between different x-y-z-coordinates

Hello together,

i hope that this sketch can descripe my problem.
I am trying to create in my own model a bar (yellow in this picture) between the "foot-bar" and the "standing bar. I have calculated the length of every corner of the bar in my x-y-z-axis with trignometric formula and tried to combine my yellow-bar with the "foot-bar" and the "standing bar" but it doesn´t work...

My question is with which function/ method i cand build a bar and let it combine with the "foot-bar" and the "standing-bar" by itself so that creo is automatically creating the right dimensions for my yellow bar. Or with other words, what´s the easiest way to solve my problem 🙂

I thank you for every answer in advance

Many greets,

Ion