I can’t comment with authority on your specific requirements of 100% height, but at a guess, I would think so.
I can’t publish the code I wrote, as it belongs to the customer I wrote it for, but it wasn’t very complex or extensive.
Basically the OnClientItemClicking client event lets you know that they are clicking on a PanelItem, so you can then intercept to manipulate the properties of the RadPanelBar and RadPanelItem objects, as required... and cancel the default actions if desired.
Once you know the mapping of the PanelBar and PanelItem object to the underlying html elements (detailed in the help) manipulating the display
becomes much easier to understand.
I’m sure you can get some good hints and guides from Telerik support if you ask nice... as they certainly helped me write mine :)