Theory
Bunimovich 1974: stadium = 2 semicircles + rectangle (a>0) is fully chaotic (ergodic, mixing).
Key: defocusing mechanism at curved walls — divergent nearby rays.
Lyapunov exponent λ > 0 ↔ chaos.
Poincaré section (s, sin θ): ergodic ↔ fills phase space uniformly.