Added initial Doxygen config

Doxyfile

@@ -363,6 +363,8 @@ TOC_INCLUDE_HEADINGS   = 5
 
 AUTOLINK_SUPPORT       = YES
 
+MARKDOWN_ID_STYLE      = GITHUB
+
 # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
 # to include (a tag file for) the STL sources as input, then you should set this
 # tag to YES in order to let doxygen match functions declarations and
@@ -1086,7 +1088,7 @@ SOURCE_BROWSER         = YES
 # classes and enums directly into the documentation.
 # The default value is: NO.
 
-INLINE_SOURCES         = NO
+INLINE_SOURCES         = YES
 
 # Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
 # special comment blocks from generated source code fragments. Normal C, C++ and
@@ -1123,7 +1125,7 @@ REFERENCES_LINK_SOURCE = YES
 # The default value is: YES.
 # This tag requires that the tag SOURCE_BROWSER is set to YES.
 
-SOURCE_TOOLTIPS        = YES
+SOURCE_TOOLTIPS        = NO
 
 # If the USE_HTAGS tag is set to YES then the references to source code will
 # point to the HTML generated by the htags(1) tool instead of doxygen built-in
@@ -1254,7 +1256,7 @@ HTML_FILE_EXTENSION    = .html
 # of the possible markers and block names see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_HEADER            =
+HTML_HEADER            = docs/doxygen/header.html
 
 # The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
 # generated HTML page. If the tag is left blank doxygen will generate a standard
@@ -1289,7 +1291,7 @@ HTML_STYLESHEET        =
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_STYLESHEET  = thirdparty/doxygen-awesome-css/doxygen-awesome.css
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@@ -1299,7 +1301,13 @@ HTML_EXTRA_STYLESHEET  =
 # files will be copied as-is; there are no commands or markers available.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-# HTML_EXTRA_FILES       = thirdparty/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js
+HTML_EXTRA_FILES       = thirdparty/doxygen-awesome-css/doxygen-awesome-interactive-toc.js
+HTML_EXTRA_FILES       += thirdparty/doxygen-awesome-css/doxygen-awesome-paragraph-link.js
+HTML_EXTRA_FILES       += thirdparty/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js
+HTML_EXTRA_FILES       += thirdparty/doxygen-awesome-css/doxygen-awesome-tabs.js
+HTML_EXTRA_FILES       += CONTRIBUTING.md
+HTML_EXTRA_FILES       += docs/doxygen/highlight.min.js
+HTML_EXTRA_FILES       += docs/doxygen/solarized-light.min.css
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
@@ -1332,7 +1340,6 @@ HTML_COLORSTYLE_SAT    = 100
 HTML_COLORSTYLE_GAMMA  = 80
 
 HTML_COLORSTYLE = LIGHT
-# HTML_EXTRA_STYLESHEET  = thirdparty/doxygen-awesome-css/doxygen-awesome.css
 
 # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
 # page will contain the date and time when the page was generated. Setting this
@@ -2103,7 +2110,7 @@ MAN_LINKS              = NO
 # captures the structure of the code including all documentation.
 # The default value is: NO.
 
-GENERATE_XML           = NO
+GENERATE_XML           = YES
 
 # The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of