[Openal] How to capture Listener output?

[Brad Aisa]

I want to use OpenAL in a robotics simulation context. What I
want to do, is capture the audio stream of the Listener, for
input into my robot's auditory processing subsystem.

How can I do this?

I would basically like to operate a loop like this:

do forever
   time += delta
   update Sources (position, etc.)
   update Listener (position etc.)
   process x ms of data
   capture Listener data for that x ms

where x is a few ms each time, maybe 5ms or so

This needs to be integrated with a graphical and ODE (physics)
processing loop.

If OpenAL is not good for this, can someone suggest an
alternative library that can do true 3D sound rendering for a
listener?

(I searched quite a bit, and couldn't find any references to this
anywhere.)

Thanks for any tips!

-- 
Brad Aisa
Department of Psychology
University of Colorado - Boulder