Compare two lists having coordinates of shapes

I want to compare two lists having coordinates of shapes.

let-

listA=(  ((1 2) (3 4))   ((5 6) (7 8))  ((9 10) (11 12))  )             :- listA has coordinates of 3 shapes

listB=( (1 2) (3 4) )                                                            :-listB has coordinates of 1 shape

I want to compare coordinates of shape of listB with coordinates of every shape of listA,  such that if shape of listA is inside the shape of listB or overlapping it should be retained only and if not (outside the shape of listB or intersecting it) it should be discarded.