I think you are looking for ray picking or ray intersection.
This answer has a link to a iOS sample/video which I believe is what you are after.
https://gamedev.stackexchange.com/questions/12360/how-do-you-determine-which-object-surface-the-users-pointing-at-with-lwjgl/12367#12367
Another related SO question:
Implementing Ray Picking
That should get you started on what you need to do.
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