allTri = []

points = [
    [1,2,3,4],
    [5,6,7,8]
]

for p in points:
    allTri.add([p[0], p[1], p[2]])
    allTri.add([p[1], p[2], p[3]])

def isInCollision(p)
    for r in allTri:
        if isInTriangle(p, r):
            return True
    return False

def isInTriangle(p, r)
    a = |r[0]-r[1]|
    b = |r[1]-r[2]|
    c = |r[2]-r[0]|
    d = |r[0]-p|
    e = |r[1]-p|
    f = |r[2]-p|

    return 2*pi < (
        acos((d²+e²-a²)/2*d*e) +
        acos((e²+f²-b²)/2*e*f) +
        acos((f²+d²-c²)/2*f*d)
    )