def in_hull(p, hull, hull_orig_translation, hull_new_translation, hull_new_rotation):
    """Check if a point is inside a hull of an object

    Args:
        p: A 3d numpy vector describing the position of a point.
        hull: A scipy.spatial.Delauny instance.
        hull_orig_translation: The objects original translation (see Model3d class)
        hull_new_translation: The objects new translation (see Model3d class)
        hull_new_rotation: The objects new rotation (see Model3d class)

    Returns:
        True if the point is inside the hull of the object, False otherwise.
    """
    new_p = p-hull_orig_translation-hull_new_translation
    new_p = new_p @ hull_new_rotation
    new_p += hull_orig_translation
    return hull.find_simplex(new_p)>=0