[WebXR] Attach plane models to surfaces for occlusion and collision detection

Is it possible to attach virtual plane models to surfaces for occlusion and collision detection from other virtual models?
if so, then how to achieve this gold?
Example as:

  • I place a virtual kitty in AR space near a real table, and then I move to somewhere causing my sight blocked by an real table.
  • What I expect to see is part of that kitty, but actually is the whole virtual object.
    THX for your time to help me!