In answer to Shubham Patwa: This way, the page is "jumpy" soon as the class "navbar-fixed-top" applies. That's because the #mainnav is throwen in and out of the document's DOM flow. This can result in an ugly UX if the page has a "critical height", jumping between fixed and un-fixed #mainnav position.
I altered the code this way, which seems to work fine (not pixel-perfect, but fine):
$(document).ready(function() {
var navpos = $('#mainnav').offset();
var navheight = $('#mainnav').outerHeight();
$(window).bind('scroll', function() {
if ($(window).scrollTop() > navpos.top) {
$('#mainnav').addClass('navbar-fixed-top');
$('body').css('marginTop',navheight);
}
else {
$('#mainnav').removeClass('navbar-fixed-top');
$('body').css('marginTop','0');
}
});