No, same answer. Normally Panda doesn’t even know what’s in front or what’s behind another object. The graphics card solves this when it renders the scene, via the Z-buffer. So to get the final answer, you either have to figure out some way to ask the graphics card, or you have to re-engineer everything the graphics card does.
In fact, there is a way in low-level Panda to ask the graphics card this question, via GSG::begin_occlusion_query(). But this interface is too low-level to expose to Python.
David