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If the person is drunk but sober enough to understand the situation and give consent then it's not rape (assuming the person doesn't say 'no').
If the person is barely conscious or passed out then it's rape. Same thing if the person is asleep (drunk or not).
There's of course a huge gray area in the middle but if you don't know for sure whether the person is ok with it or not you may want to restrain yourself. Even if it isn't rape legally it might come of as a bit desperate and creepy.