How do I stretch the middle <div> height in a three-<div> layout?

I am trying to do is to layout three <div>s: a top (for navigation), center, and footer <div>. The top and bottom <div>s have fixed height.

How can I make the center <div> stretch 100% and subtract the height of the o开发者_JAVA技巧thers (top and bottom)?

Note: I have given the body, html height 100%.

if it's divs you're using, I think that Javascript is the only answer to this one.