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Draw Order

This stream for mobile VR development mentions draw order.
https://youtube.com/watch?v=dl7IGBqymb0
The idea being to draw closer objects first and further objects last. So occluded far away objects take up less fill rate. No need to draw a triangle if you can’t see it.

How do I do this? How do I specify which objects to draw later and how do I make the later drawn objects skip occluded geometry?