truheart on "FIltering posts based on custom taxonomies and categories"

Hey guys,

I'm trying to design a sidebar which lists links to the archive pages for posts based on specific categories and my custom taxonomy labeled "Topics". I have 4 Categories (Teachings, Posts, Media, Books) and multiple hierarchical "Topics" (i.e. Theology, Philosophy, History, etc.).

What is making this difficult is that each Topic belongs to multiple Categories. For example, I might have a post that reviews a historical biography (Category=Book, Topic=History), while at the same time have a post that contains a video discussing historical events (Category=Media, Topic=History). Using this example, what I am trying to do is make sure that for every time someone is on post or page that belongs to the Media Category, the sidebar is only listing taxonomies which will link to the videos and not the books. I hope that makes sense. If not here is an example of what I am trying to do:

(Sidebar when someone is on a media page)
Theology            (Cat=Media, Topic=Theology)
  -God              (Cat=Media, Topic=Theology->God)
  -Religions        (Cat=Media, Topic=Theology->Religions)
Philosophy          (Cat=Media, Topic=Philosophy)
  -Metaphysics      (Cat=Media, Topic=Philosophy->Metaphysics)
  -Ethics           (Cat=Media, Topic=Philosophy->Ethics)
etc...