I'm trying to figure out which points on Object B are occluded by Object A from camera's point of view. What's the best way to figure this out?

Thank you.

Hi,
The best way for you would be to test if there is any occlusion between the points in the object B and the object A based on the camera direction.
For that, you can use the intersect vex function, and then if the returned value is negative, it would mean that no object are between this point and the camera.

I included a quick example on how to do it