Need some help for building a taxonomy based navigation system

Hi !
I need some help for building my website navigation system :

all my nodes have at least a taxonomy term, and those terms have a tree-like organization

on every page there would a be a main menu, displaying all the "root" terms, then when i click on a term, a secondary menu appears displaying all the children terms of the root term i just clicked on
( this secondary menu would be separated in the html code, i don't want a menu like the book-module one)
then when i click on 1st generatino children, a third menu appears displaying all the children etc ..............

I use Drupal 6 RC3, is there any way to do this ?
( And if that's not possible, can the Drupal 5 Views module do this ?? )

thanks