Not an easy task. I have seen a lot of requests for this, but never a solution.
This is not exactly what you want, but maybe someone can take it as a start to build the hierachie.
Will require some coding. This is as close as I can get.
SELECT c.[Name], nri.[Name], fbf.[Depth]
FROM FolderBaseFolder fbf
INNER JOIN vNonResourceItem nri
ON fbf.[ParentFolderGuid] = nri.[Guid]
INNER JOIN ScopeMembership sm
ON fbf.[FolderGuid] = sm.[ScopeCollectionGuid]
INNER JOIN vComputer c
ON sm.[ResourceGuid] = c.[Guid]
WHERE c.[IsManaged] = 1
AND ( nri.[ClassGuid] IN ( SELECT cbc.[ClassGuid] FROM ClassBaseClass cbc WHERE cbc.[BaseClassGuid] IN ( '2A20DBEB-F827-4b02-BDCB-815B1ED6A706', 'A1BBB63E-7194-4282-AB92-64E27FA2C18D' ) ) )
ORDER BY sm.[ResourceGuid], fbf.[FolderGuid], fbf.[Depth]