We have investigated structures of the ground and excited states of $^{16}\textrm{O}$ with the method of variation after spin-parity projection in the antisymmetrized molecular dynamics model combined with the generator coordinate method of $^{12}\textrm{C}+\alpha$ cluster. The calculation reasonably reproduces the experimental energy spectra, $E2$, $E3$, $E4$, $IS1$ transitions, and $\alpha$-decay properties. The formation of 4 $\alpha$ clusters has been confirmed from nucleon degrees of freedom in the AMD model without assuming existence of any clusters. They form "tetrahedral" $4\alpha$- and $^{12}\textrm{C}+\alpha$-cluster structures. The $^{12}\textrm{C}+\alpha$ structure constructs the $K^\pi=0^+$ band consisting of the $0^+_2$, $2^+_1$, and $4^+_1$ states and the $K^\pi=0^-$ band of the $1^-_2$, $3^-_2$, and $5^-_1$ states. The $0^+_1$, $3^-_1$, and $4^+_2$ states are assigned to the ground band constructed from the tetrahedral 4$\alpha$ structure. The $0^+_1$ and $3^-_1$ are approximately interpreted as $T_d$ band members with the ideal tetrahedral configuration. The ground state $4\alpha$ correlation plays an important role in enhancement of the $E3$ transition strength to the $3^-_1$. The $4^+_2$ state is not the ideal $T_d$ member but constructed from a distorted tetrahedral $4\alpha$ structure. Moreover, significant state mixing of the tetrahedral $4\alpha$ and $^{12}\textrm{C}+\alpha$ cluster structures occurs between $4^+_1$ and $4^+_2$ states, indicating that the $T_d$ configuration of $4\alpha$ is rather fragile at $J^\pi=4^+$.