Question: How do I check a point inside, outside or lie on a tetrahedron?

In geometry 3D, I have four vertices A(x1,y1,z1), B(x2,y2,z2), C(x3,y3,z3) and D(x4,y4,z4) of a tetrahedron. How to check a point P(x0,y0,z0) inside, outside or lie on  tetrahedron ABCD?

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