yes, I mean that exactly. it won't be problem to style and enable it on basic <ul> menu, only problem is displaying it in header / sidebar
EDIT:
well, I realized, that there is no need to display it in header. if it's single page website, there is no default menu, so don't display menu item at all and put sa_toc in div with menu id...
EDIT:
well, I realized, that there is no need to display it in header. if it's single page website, there is no default menu, so don't display menu item at all and put sa_toc in div with menu id...