Filter sidebar menu based on category
So vantage is set up so that the listings page can have a different menu then a single listing and a different menu then the rest of the site. Is there a way to filter what is in the side bar based on the category that is being viewed? I only have three categories that i'm working with. I'm hoping there is an easy way to do this. I am assuming it can be done with changing some of the php files.. however i have limited knowledge in that area.