This is a question that should be reposted in the Missouri section. This should be answered by an attorney licensed in Missouri.
In PA, a felony one burglary is the entry into the promises of another with the intent to commit a crime therein. Voluntary intoxication is not a defense.
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I would suggest doing a google search to find that answer. The definitions of crimes are different from state to state. I would contact a Missouri criminal attorney for more info and how to advise,.