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Ears. They pick up sound waves and send signals to the brain to determine from which direction the sound is coming. The determination can be augmented by visual clues sent from eyes and validated/ corrected/ refined by auditory input from other soldiers with ears. Usually, it’s extremely accurate. Usually.
Also, Maher makes what might be a lesser known point, that an acoustic suppressor such as a silencer might remove or decrease a muzzle blast, yet not interfere with the shock waves described by Maher and Tousley.