diff --git a/doc/eigen_navtree_hacks.js b/doc/eigen_navtree_hacks.js
index afb97edf5..f36b332ec 100644
--- a/doc/eigen_navtree_hacks.js
+++ b/doc/eigen_navtree_hacks.js
@@ -62,23 +62,161 @@ function getNode(o, po)
   }
 }
 
-// Overloaded to adjust the size of the navtree wrt the toc
-function resizeHeight() 
-{
-  var header  = $("#top");
-  var sidenav = $("#side-nav");
-  var content = $("#doc-content");
-  var navtree = $("#nav-tree");
-  var footer  = $("#nav-path");
-  var toc     = $("#nav-toc");
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
 
-  var headerHeight = header.outerHeight();
-  var footerHeight = footer.outerHeight();
-  var tocHeight    = toc.height();
-  var windowHeight = $(window).height() - headerHeight - footerHeight;
-  content.css({height:windowHeight + "px"});
-  navtree.css({height:(windowHeight-tocHeight) + "px"});
-  sidenav.css({height:windowHeight + "px"});
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+// We need to override entire resizable just so we can change the height to account for the TOC.
+function initResizable()
+{
+  var cookie_namespace = 'doxygen';
+  var sidenav,navtree,content,header,collapsed,collapsedWidth=0,barWidth=6,desktop_vp=768,titleHeight;
+
+  function readCookie(cookie)
+  {
+    var myCookie = cookie_namespace+"_"+cookie+"=";
+    if (document.cookie) {
+      var index = document.cookie.indexOf(myCookie);
+      if (index != -1) {
+        var valStart = index + myCookie.length;
+        var valEnd = document.cookie.indexOf(";", valStart);
+        if (valEnd == -1) {
+          valEnd = document.cookie.length;
+        }
+        var val = document.cookie.substring(valStart, valEnd);
+        return val;
+      }
+    }
+    return 0;
+  }
+
+  function writeCookie(cookie, val, expiration)
+  {
+    if (val==undefined) return;
+    if (expiration == null) {
+      var date = new Date();
+      date.setTime(date.getTime()+(10*365*24*60*60*1000)); // default expiration is one week
+      expiration = date.toGMTString();
+    }
+    document.cookie = cookie_namespace + "_" + cookie + "=" + val + "; expires=" + expiration+"; path=/";
+  }
+
+  function resizeWidth()
+  {
+    var windowWidth = $(window).width() + "px";
+    var sidenavWidth = $(sidenav).outerWidth();
+    content.css({marginLeft:parseInt(sidenavWidth)+"px"});
+    writeCookie('width',sidenavWidth-barWidth, null);
+  }
+
+  function restoreWidth(navWidth)
+  {
+    var windowWidth = $(window).width() + "px";
+    content.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
+    sidenav.css({width:navWidth + "px"});
+  }
+
+  function resizeHeight()
+  {  
+    var headerHeight = header.outerHeight();
+    var footerHeight = footer.outerHeight();
+    var windowHeight = $(window).height() - headerHeight - footerHeight;
+    //==========================================================================
+    // MODIFICATION:
+    // This small section is the only portion modified within initResizable().
+    // The rest is copy-pasted from the doxygen-generated resize.js.
+    //
+    // Adjust nav height to make room for TOC.
+    var toc = $("#nav-toc");
+    var tocHeight = toc.height();
+    var navHeight = windowHeight;
+    // tocHeight is not always defined (e.g. if empty)
+    if (tocHeight) {
+      navHeight = windowHeight - tocHeight;
+    }
+   //==========================================================================
+    
+    content.css({height:windowHeight + "px"});
+    navtree.css({height:navHeight + "px"});
+    sidenav.css({height:windowHeight + "px"});
+    
+    var width=$(window).width();
+    if (width!=collapsedWidth) {
+      if (width<desktop_vp && collapsedWidth>=desktop_vp) {
+        if (!collapsed) {
+          collapseExpand();
+        }
+      } else if (width>desktop_vp && collapsedWidth<desktop_vp) {
+        if (collapsed) {
+          collapseExpand();
+        }
+      }
+      collapsedWidth=width;
+    }
+    if (location.hash.slice(1)) {
+      (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView();
+    }
+  }
+
+  function collapseExpand()
+  {
+    if (sidenav.width()>0) {
+      restoreWidth(0);
+      collapsed=true;
+    }
+    else {
+      var width = readCookie('width');
+      if (width>200 && width<$(window).width()) { restoreWidth(width); } else { restoreWidth(200); }
+      collapsed=false;
+    }
+  }
+  header  = $("#top");
+  sidenav = $("#side-nav");
+  content = $("#doc-content");
+  navtree = $("#nav-tree");
+  footer  = $("#nav-path");
+
+  $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } });
+  $(sidenav).resizable({ minWidth: 0 });
+  $(window).resize(function() { resizeHeight(); });
+  var device = navigator.userAgent.toLowerCase();
+  var touch_device = device.match(/(iphone|ipod|ipad|android)/);
+  if (touch_device) { /* wider split bar for touch only devices */
+    $(sidenav).css({ paddingRight:'20px' });
+    $('.ui-resizable-e').css({ width:'20px' });
+    $('#nav-sync').css({ right:'34px' });
+    barWidth=20;
+  }
+  var width = readCookie('width');
+  if (width) { restoreWidth(width); } else { resizeWidth(); }
+  resizeHeight();
+  var url = location.href;
+  var i=url.indexOf("#");
+  if (i>=0) window.location.hash=url.substr(i);
+  var _preventDefault = function(evt) { evt.preventDefault(); };
+  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
+  $(".ui-resizable-handle").dblclick(collapseExpand);
+  $(window).on('load',resizeHeight);
 }
 
 // Overloaded to save the root node into global_navtree_object
@@ -241,7 +379,4 @@ $(document).ready(function() {
       setTimeout(arguments.callee, 10);
     }
   })();
-
-  $(window).on("load", resizeHeight);
 });
-
diff --git a/doc/eigendoxy.css b/doc/eigendoxy.css
index 4e9d7d120..c746194e6 100644
--- a/doc/eigendoxy.css
+++ b/doc/eigendoxy.css
@@ -160,9 +160,7 @@ div.toc {
   margin:0;
   padding: 0.3em 0 0 0;
   width:100%;
-  float:none;
-  position:absolute;
-  bottom:0;
+  float: none;
   border-radius:0px;
   border-style: solid none none none;
   max-height:50%;