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Here’s an example project BackMenu from Guy Kahlon inspired by Facebook’s Paper, Slingshot and Groups Apps that show’s how to create swipe to reveal pop-in menus.

BackMenu includes a simple library that you can use to display your own UIWindow as a pop-in view and shows how to lay out your project within storyboards so that your view automatically pops-in from the background when the view is swiped, and closes when the user taps outside the menu.

You can find BackMenu on Github here.