diff --git a/Examples/Samples/Sources/Base.lproj/Main.storyboard b/Examples/Samples/Sources/Base.lproj/Main.storyboard
index 903d620..aab8863 100644
--- a/Examples/Samples/Sources/Base.lproj/Main.storyboard
+++ b/Examples/Samples/Sources/Base.lproj/Main.storyboard
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="14460.31" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="RoN-h0-uBD">
-    <device id="retina4_7" orientation="portrait">
+    <device id="retina5_9" orientation="portrait">
         <adaptation id="fullscreen"/>
     </device>
     <dependencies>
@@ -15,7 +15,7 @@
             <objects>
                 <navigationController id="RoN-h0-uBD" sceneMemberID="viewController">
                     <navigationBar key="navigationBar" contentMode="scaleToFill" insetsLayoutMarginsFromSafeArea="NO" id="hNW-5m-Omi">
-                        <rect key="frame" x="0.0" y="20" width="375" height="44"/>
+                        <rect key="frame" x="0.0" y="44" width="375" height="44"/>
                         <autoresizingMask key="autoresizingMask"/>
                     </navigationBar>
                     <connections>
@@ -31,22 +31,22 @@
             <objects>
                 <viewController id="jF4-A0-Eq6" customClass="SampleListViewController" customModule="Samples" customModuleProvider="target" sceneMemberID="viewController">
                     <view key="view" contentMode="scaleToFill" id="Smh-Bd-AAc">
-                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="812"/>
                         <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
                         <subviews>
                             <tableView clipsSubviews="YES" contentMode="scaleToFill" alwaysBounceVertical="YES" dataMode="prototypes" style="plain" separatorStyle="default" rowHeight="-1" estimatedRowHeight="-1" sectionHeaderHeight="28" sectionFooterHeight="28" translatesAutoresizingMaskIntoConstraints="NO" id="7IS-PU-x0P">
-                                <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                                <rect key="frame" x="0.0" y="0.0" width="375" height="778"/>
                                 <color key="backgroundColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
                                 <prototypes>
                                     <tableViewCell clipsSubviews="YES" contentMode="scaleToFill" preservesSuperviewLayoutMargins="YES" selectionStyle="default" indentationWidth="10" reuseIdentifier="Cell" textLabel="M0G-C8-hAO" style="IBUITableViewCellStyleDefault" id="ySY-oA-g81">
                                         <rect key="frame" x="0.0" y="28" width="375" height="44"/>
                                         <autoresizingMask key="autoresizingMask"/>
                                         <tableViewCellContentView key="contentView" opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="center" preservesSuperviewLayoutMargins="YES" insetsLayoutMarginsFromSafeArea="NO" tableViewCell="ySY-oA-g81" id="sXB-nH-2g2">
-                                            <rect key="frame" x="0.0" y="0.0" width="375" height="43.5"/>
+                                            <rect key="frame" x="0.0" y="0.0" width="375" height="43.666666666666664"/>
                                             <autoresizingMask key="autoresizingMask"/>
                                             <subviews>
                                                 <label opaque="NO" multipleTouchEnabled="YES" contentMode="left" insetsLayoutMarginsFromSafeArea="NO" text="Title" textAlignment="natural" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" id="M0G-C8-hAO">
-                                                    <rect key="frame" x="15" y="0.0" width="345" height="43.5"/>
+                                                    <rect key="frame" x="15" y="0.0" width="345" height="43.666666666666664"/>
                                                     <autoresizingMask key="autoresizingMask"/>
                                                     <fontDescription key="fontDescription" type="system" pointSize="17"/>
                                                     <nil key="textColor"/>
@@ -81,17 +81,17 @@
             <objects>
                 <viewController id="RpE-lI-27a" customClass="TabBarContentViewController" customModule="Samples" customModuleProvider="target" sceneMemberID="viewController">
                     <view key="view" contentMode="scaleToFill" id="JER-jz-KSq">
-                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="812"/>
                         <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
                         <subviews>
                             <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Item 2" textAlignment="natural" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="AiP-dx-mFn">
-                                <rect key="frame" x="163.5" y="323" width="48" height="21"/>
+                                <rect key="frame" x="163.66666666666666" y="395.66666666666669" width="48" height="21"/>
                                 <fontDescription key="fontDescription" type="system" pointSize="17"/>
                                 <nil key="textColor"/>
                                 <nil key="highlightedColor"/>
                             </label>
                             <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="roundedRect" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="IvG-yp-yzI">
-                                <rect key="frame" x="20" y="20" width="39" height="30"/>
+                                <rect key="frame" x="20" y="44" width="39" height="30"/>
                                 <state key="normal" title="Close"/>
                                 <connections>
                                     <action selector="closeWithSender:" destination="RpE-lI-27a" eventType="touchUpInside" id="hj3-Xv-6Gq"/>
@@ -119,17 +119,17 @@
             <objects>
                 <viewController id="lto-Zc-Vtp" customClass="TabBarContentViewController" customModule="Samples" customModuleProvider="target" sceneMemberID="viewController">
                     <view key="view" contentMode="scaleToFill" id="ji9-Ez-N7i">
-                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="812"/>
                         <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
                         <subviews>
                             <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Item 1" textAlignment="natural" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="uoW-c8-9wx">
-                                <rect key="frame" x="164.5" y="323" width="46" height="21"/>
+                                <rect key="frame" x="164.66666666666666" y="395.66666666666669" width="46" height="21"/>
                                 <fontDescription key="fontDescription" type="system" pointSize="17"/>
                                 <nil key="textColor"/>
                                 <nil key="highlightedColor"/>
                             </label>
                             <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="roundedRect" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="eFN-tN-4Ct">
-                                <rect key="frame" x="20" y="20" width="39" height="30"/>
+                                <rect key="frame" x="20" y="44" width="39" height="30"/>
                                 <state key="normal" title="Close"/>
                                 <connections>
                                     <action selector="closeWithSender:" destination="bYI-y3-Rzb" eventType="touchUpInside" id="YL4-GP-ZEZ"/>
@@ -157,11 +157,11 @@
             <objects>
                 <viewController storyboardIdentifier="IntrinsicViewController" id="aK0-kv-mTu" sceneMemberID="viewController">
                     <view key="view" contentMode="scaleToFill" id="eLM-xc-d9e">
-                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="812"/>
                         <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
                         <subviews>
                             <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="1000" verticalHuggingPriority="1000" horizontalCompressionResistancePriority="1000" verticalCompressionResistancePriority="1000" text="Change this text" textAlignment="center" lineBreakMode="tailTruncation" numberOfLines="0" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="ge4-RW-Gmz">
-                                <rect key="frame" x="24" y="44" width="327" height="20.5"/>
+                                <rect key="frame" x="24" y="68" width="327" height="20.333333333333329"/>
                                 <fontDescription key="fontDescription" type="system" pointSize="17"/>
                                 <nil key="textColor"/>
                                 <nil key="highlightedColor"/>
@@ -204,22 +204,22 @@
             <objects>
                 <viewController storyboardIdentifier="ModalViewController" id="bYI-y3-Rzb" customClass="ModalViewController" customModule="Samples" customModuleProvider="target" sceneMemberID="viewController">
                     <view key="view" contentMode="scaleToFill" id="qwo-GK-p1U">
-                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="812"/>
                         <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
                         <subviews>
                             <view contentMode="scaleToFill" translatesAutoresizingMaskIntoConstraints="NO" id="vut-mK-Y4t" customClass="SafeAreaView" customModule="Samples" customModuleProvider="target">
-                                <rect key="frame" x="0.0" y="667" width="375" height="0.0"/>
+                                <rect key="frame" x="0.0" y="778" width="375" height="34"/>
                                 <color key="backgroundColor" white="0.66666666666666663" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
                             </view>
                             <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="roundedRect" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="sbF-Az-7sy">
-                                <rect key="frame" x="20" y="20" width="39" height="30"/>
+                                <rect key="frame" x="20" y="44" width="39" height="30"/>
                                 <state key="normal" title="Close"/>
                                 <connections>
                                     <action selector="closeWithSender:" destination="bYI-y3-Rzb" eventType="touchUpInside" id="MSC-ch-YJK"/>
                                 </connections>
                             </button>
                             <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" alignment="top" spacing="44" translatesAutoresizingMaskIntoConstraints="NO" id="9p4-06-y2T">
-                                <rect key="frame" x="139.5" y="108" width="96" height="252"/>
+                                <rect key="frame" x="139.66666666666666" y="132" width="96" height="252"/>
                                 <subviews>
                                     <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="roundedRect" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="i9x-x5-n1q">
                                         <rect key="frame" x="0.0" y="0.0" width="80" height="30"/>
@@ -420,14 +420,14 @@
                                 </constraints>
                             </view>
                             <view contentMode="scaleToFill" translatesAutoresizingMaskIntoConstraints="NO" id="Kva-Z7-0qY" customClass="OnSafeAreaView" customModule="Samples" customModuleProvider="target">
-                                <rect key="frame" x="0.0" y="734" width="375" height="44"/>
+                                <rect key="frame" x="0.0" y="700" width="375" height="44"/>
                                 <color key="backgroundColor" red="0.0078431372550000003" green="0.72156862749999995" blue="0.45882352939999999" alpha="1" colorSpace="calibratedRGB"/>
                                 <constraints>
                                     <constraint firstAttribute="height" constant="44" id="DQJ-cY-cKx"/>
                                 </constraints>
                             </view>
                             <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" spacing="22" translatesAutoresizingMaskIntoConstraints="NO" id="tP3-oJ-4EB">
-                                <rect key="frame" x="130.5" y="108" width="114" height="82"/>
+                                <rect key="frame" x="130.66666666666666" y="132" width="114" height="82"/>
                                 <subviews>
                                     <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="roundedRect" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="c5r-jU-haj">
                                         <rect key="frame" x="0.0" y="0.0" width="114" height="30"/>
@@ -447,7 +447,7 @@
                                 </subviews>
                             </stackView>
                         </subviews>
-                        <color key="backgroundColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                        <color key="backgroundColor" red="1" green="0.83234566450000003" blue="0.47320586440000001" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
                         <gestureRecognizers/>
                         <constraints>
                             <constraint firstItem="noi-1a-5bZ" firstAttribute="top" secondItem="g7l-kO-y7q" secondAttribute="top" constant="12" id="EQy-cr-F2Y"/>
@@ -460,6 +460,7 @@
                             <constraint firstItem="tAi-nk-rDB" firstAttribute="trailing" secondItem="noi-1a-5bZ" secondAttribute="trailing" constant="12" id="lv9-Nf-HNB"/>
                             <constraint firstItem="Kva-Z7-0qY" firstAttribute="leading" secondItem="tAi-nk-rDB" secondAttribute="leading" id="oVC-i1-TwS"/>
                             <constraint firstItem="tAi-nk-rDB" firstAttribute="bottom" secondItem="Kva-Z7-0qY" secondAttribute="bottom" id="rW2-mF-5DR"/>
+                            <constraint firstItem="8yw-OC-Ubk" firstAttribute="top" relation="greaterThanOrEqual" secondItem="tP3-oJ-4EB" secondAttribute="bottom" constant="8" symbolic="YES" id="vKQ-h9-uKt"/>
                         </constraints>
                         <viewLayoutGuide key="safeArea" id="tAi-nk-rDB"/>
                         <connections>
diff --git a/Examples/Samples/Sources/ViewController.swift b/Examples/Samples/Sources/ViewController.swift
index cb470fe..ba4834e 100644
--- a/Examples/Samples/Sources/ViewController.swift
+++ b/Examples/Samples/Sources/ViewController.swift
@@ -172,7 +172,7 @@ class SampleListViewController: UIViewController, UITableViewDataSource, UITable
         case .showRemovablePanel:
             return newCollection.verticalSizeClass == .compact ? RemovablePanelLandscapeLayout() :  RemovablePanelLayout()
         case .showIntrinsicView:
-            return IntrinsicPanelLayout(mainPanelVC.contentViewController)
+            return IntrinsicPanelLayout()
         case .showFloatingPanelModal:
             if vc != mainPanelVC && vc != detailPanelVC {
                 return ModalPanelLayout()
@@ -197,64 +197,37 @@ class SampleListViewController: UIViewController, UITableViewDataSource, UITable
     }
 }
 
-class IntrinsicPanelLayout: FloatingPanelIntrinsicLayout {
-    
-    weak var contentViewController: UIViewController?
-    
-    init(_ contentViewController: UIViewController?) {
-        self.contentViewController = contentViewController
-    }
-    
-    var initialPosition: FloatingPanelPosition {
-        return .half
-    }
-    
+class IntrinsicPanelLayout: FloatingPanelIntrinsicLayout { }
+
+class RemovablePanelLayout: FloatingPanelIntrinsicLayout {
     var supportedPositions: Set<FloatingPanelPosition> {
-        return [.half]
+        return [.full, .half]
     }
-    
+    var topInteractionBuffer: CGFloat {
+        return 200.0
+    }
+    var bottomInteractionBuffer: CGFloat {
+        return 261.0 - 22.0
+    }
+
     func insetFor(position: FloatingPanelPosition) -> CGFloat? {
         switch position {
-        case .half: return intrinsicHeight
+        case .half: return 130.0
         default: return nil
         }
     }
+    func backdropAlphaFor(position: FloatingPanelPosition) -> CGFloat {
+        return 0.3
+    }
 }
 
-class RemovablePanelLayout: FloatingPanelLayout {
-    var initialPosition: FloatingPanelPosition {
-        return .half
-    }
+class RemovablePanelLandscapeLayout: FloatingPanelIntrinsicLayout {
     var supportedPositions: Set<FloatingPanelPosition> {
         return [.full, .half]
     }
     var bottomInteractionBuffer: CGFloat {
         return 261.0 - 22.0
     }
-
-    func insetFor(position: FloatingPanelPosition) -> CGFloat? {
-        switch position {
-        case .full: return 16.0
-        case .half: return 261.0
-        default: return nil
-        }
-    }
-    func backdropAlphaFor(position: FloatingPanelPosition) -> CGFloat {
-        return 0.3
-    }
-}
-
-class RemovablePanelLandscapeLayout: FloatingPanelLayout {
-    var initialPosition: FloatingPanelPosition {
-        return .half
-    }
-    var supportedPositions: Set<FloatingPanelPosition> {
-        return [.half]
-    }
-    var bottomInteractionBuffer: CGFloat {
-        return 261.0 - 22.0
-    }
-
     func insetFor(position: FloatingPanelPosition) -> CGFloat? {
         switch position {
         case .half: return 261.0
@@ -266,23 +239,7 @@ class RemovablePanelLandscapeLayout: FloatingPanelLayout {
     }
 }
 
-class ModalPanelLayout: FloatingPanelLayout {
-    var initialPosition: FloatingPanelPosition {
-        return .half
-    }
-    var supportedPositions: Set<FloatingPanelPosition> {
-        return [.half]
-    }
-    var bottomInteractionBuffer: CGFloat {
-        return 261.0 - 22.0
-    }
-
-    func insetFor(position: FloatingPanelPosition) -> CGFloat? {
-        switch position {
-        case .half: return 261.0
-        default: return nil
-        }
-    }
+class ModalPanelLayout: FloatingPanelIntrinsicLayout {
     func backdropAlphaFor(position: FloatingPanelPosition) -> CGFloat {
         return 0.3
     }
diff --git a/Framework/Sources/FloatingPanel.swift b/Framework/Sources/FloatingPanel.swift
index f6c9137..7ce3f97 100644
--- a/Framework/Sources/FloatingPanel.swift
+++ b/Framework/Sources/FloatingPanel.swift
@@ -475,6 +475,19 @@ class FloatingPanel: NSObject, UIGestureRecognizerDelegate, UIScrollViewDelegate
 
         viewcontroller.delegate?.floatingPanelWillBeginDragging(viewcontroller)
 
+        if layoutAdapter.layout is FloatingPanelIntrinsicLayout {
+            viewcontroller.contentViewController?.view?.constraints.forEach({ (const) in
+                switch viewcontroller.contentViewController?.layoutGuide.bottomAnchor {
+                case const.firstAnchor:
+                    (const.secondItem as? UIView)?.disableAutoLayout()
+                case const.secondAnchor:
+                    (const.firstItem as? UIView)?.disableAutoLayout()
+                default:
+                    break
+                }
+            })
+        }
+
         interactionInProgress = true
     }
 
@@ -486,6 +499,19 @@ class FloatingPanel: NSObject, UIGestureRecognizerDelegate, UIScrollViewDelegate
         if targetPosition != .full {
             lockScrollView()
         }
+
+        if layoutAdapter.layout is FloatingPanelIntrinsicLayout {
+            viewcontroller.contentViewController?.view?.constraints.forEach({ (const) in
+                switch viewcontroller.contentViewController?.layoutGuide.bottomAnchor {
+                case const.firstAnchor:
+                    (const.secondItem as? UIView)?.enableAutoLayout()
+                case const.secondAnchor:
+                    (const.firstItem as? UIView)?.enableAutoLayout()
+                default:
+                    break
+                }
+            })
+        }
     }
 
     private func getCurrentY(from rect: CGRect, with translation: CGPoint) -> CGFloat {
diff --git a/Framework/Sources/FloatingPanelLayout.swift b/Framework/Sources/FloatingPanelLayout.swift
index a9e5ee4..f15c984 100644
--- a/Framework/Sources/FloatingPanelLayout.swift
+++ b/Framework/Sources/FloatingPanelLayout.swift
@@ -5,16 +5,25 @@
 
 import UIKit
 
-public protocol FloatingPanelIntrinsicLayout: FloatingPanelLayout {
-    /// Return the viewController that is being displaying the content
-    var contentViewController: UIViewController? { get set }
-}
+/// FloatingPanelIntrinsicLayout
+///
+/// - Attention:
+///     `insetFor(position:)` must return `nil` for full position because the inset is determined automatically.
+///     You can customize insets only for half, tip and hidden positions
+///     on FloatingPanelIntrinsicLayout.
+public protocol FloatingPanelIntrinsicLayout: FloatingPanelLayout { }
 
 public extension FloatingPanelIntrinsicLayout {
-    var intrinsicHeight: CGFloat {
-        assert(contentViewController != nil, "Cannot use this if this...")
-        let fittingSize = UIView.layoutFittingCompressedSize
-        return contentViewController!.view.systemLayoutSizeFitting(fittingSize).height
+    var initialPosition: FloatingPanelPosition {
+        return .full
+    }
+
+    var supportedPositions: Set<FloatingPanelPosition> {
+        return [.full]
+    }
+
+    func insetFor(position: FloatingPanelPosition) -> CGFloat? {
+        return nil
     }
 }
 
@@ -137,7 +146,11 @@ class FloatingPanelLayoutAdapter {
     private var heightConstraints: [NSLayoutConstraint] = []
 
     private var fullInset: CGFloat {
-        return layout.insetFor(position: .full) ?? 0.0
+        if layout is FloatingPanelIntrinsicLayout {
+            return intrinsicHeight
+        } else {
+            return layout.insetFor(position: .full) ?? 0.0
+        }
     }
     private var halfInset: CGFloat {
         return layout.insetFor(position: .half) ?? 0.0
@@ -157,7 +170,11 @@ class FloatingPanelLayoutAdapter {
 
     var topY: CGFloat {
         if supportedPositions.contains(.full) {
-            return (safeAreaInsets.top + fullInset)
+            if layout is FloatingPanelIntrinsicLayout {
+                return surfaceView.superview!.bounds.height - (safeAreaInsets.bottom + fullInset)
+            } else {
+                return (safeAreaInsets.top + fullInset)
+            }
         } else {
             return middleY
         }
@@ -203,12 +220,19 @@ class FloatingPanelLayoutAdapter {
         }
     }
 
+    var intrinsicHeight: CGFloat = 0.0
+
     init(surfaceView: FloatingPanelSurfaceView, backdropView: FloatingPanelBackdropView, layout: FloatingPanelLayout) {
         self.layout = layout
         self.surfaceView = surfaceView
         self.backdropView = backdropView
     }
 
+    func updateIntrinsicHeight() {
+        let fittingSize = UIView.layoutFittingCompressedSize
+        intrinsicHeight = surfaceView.contentView.systemLayoutSizeFitting(fittingSize).height
+    }
+
     func prepareLayout(in vc: UIViewController) {
         self.vc = vc
 
@@ -225,13 +249,22 @@ class FloatingPanelLayoutAdapter {
             backdropView.rightAnchor.constraint(equalTo: vc.view.rightAnchor, constant: 0.0),
             backdropView.bottomAnchor.constraint(equalTo: vc.view.bottomAnchor, constant: 0.0),
             ]
+
         fixedConstraints = surfaceConstraints + backdropConstraints
 
         // Flexible surface constarints for full, half, tip and off
-        fullConstraints = [
-            surfaceView.topAnchor.constraint(equalTo: vc.layoutGuide.topAnchor,
-                                             constant: fullInset),
-        ]
+        if layout is FloatingPanelIntrinsicLayout {
+            updateIntrinsicHeight()
+            fullConstraints = [
+                surfaceView.topAnchor.constraint(equalTo: vc.layoutGuide.bottomAnchor,
+                                                 constant: -fullInset),
+            ]
+        } else {
+            fullConstraints = [
+                surfaceView.topAnchor.constraint(equalTo: vc.layoutGuide.topAnchor,
+                                                 constant: fullInset),
+            ]
+        }
         halfConstraints = [
             surfaceView.topAnchor.constraint(equalTo: vc.layoutGuide.bottomAnchor,
                                              constant: -halfInset),
@@ -257,16 +290,33 @@ class FloatingPanelLayoutAdapter {
         }
 
         NSLayoutConstraint.deactivate(heightConstraints)
-        // Must use the`vc` height, not the screen height because safe area insets
-        // of `vc` are relative values. For example, a view controller in
-        // Navigation controller's safe area insets and frame can be changed whether
-        // the navigation bar is translucent or not.
-        let height = vc.view.bounds.height - (safeAreaInsets.top + fullInset)
+
+        let height: CGFloat
+        if layout is FloatingPanelIntrinsicLayout {
+            updateIntrinsicHeight()
+            height = intrinsicHeight + safeAreaInsets.bottom
+        } else {
+            // Must use the`vc` height, not the screen height because safe area insets
+            // of `vc` are relative values. For example, a view controller in
+            // Navigation controller's safe area insets and frame can be changed whether
+            // the navigation bar is translucent or not.
+            height = vc.view.bounds.height - (safeAreaInsets.top + fullInset)
+        }
+
         heightConstraints = [
             surfaceView.heightAnchor.constraint(equalToConstant: height)
         ]
         NSLayoutConstraint.activate(heightConstraints)
-        surfaceView.set(bottomOverflow: heightBuffer)
+        surfaceView.set(bottomOverflow: heightBuffer + layout.topInteractionBuffer)
+
+        if layout is FloatingPanelIntrinsicLayout {
+            NSLayoutConstraint.deactivate(fullConstraints)
+            fullConstraints = [
+                surfaceView.topAnchor.constraint(equalTo: vc.layoutGuide.bottomAnchor,
+                                                 constant: -fullInset),
+            ]
+            NSLayoutConstraint.activate(fullConstraints)
+        }
     }
 
     func activateLayout(of state: FloatingPanelPosition) {
@@ -315,6 +365,10 @@ class FloatingPanelLayoutAdapter {
         assert(supportedPositions.contains(layout.initialPosition),
                "Does not include an initial potision(\(layout.initialPosition)) in supportedPositions(\(supportedPositions))")
 
+        if layout is FloatingPanelIntrinsicLayout {
+            assert(layout.insetFor(position: .full) == nil, "Return `nil` for full position on FloatingPanelIntrinsicLayout")
+        }
+
         if halfInset > 0 {
             assert(halfInset > tipInset, "Invalid half and tip insets")
         }
diff --git a/Framework/Sources/UIExtensions.swift b/Framework/Sources/UIExtensions.swift
index 23da097..57539dd 100644
--- a/Framework/Sources/UIExtensions.swift
+++ b/Framework/Sources/UIExtensions.swift
@@ -62,6 +62,17 @@ extension UIView {
     }
 }
 
+extension UIView {
+    func disableAutoLayout() {
+        let frame = self.frame
+        translatesAutoresizingMaskIntoConstraints = true
+        self.frame = frame
+    }
+    func enableAutoLayout() {
+        translatesAutoresizingMaskIntoConstraints = false
+    }
+}
+
 extension UIGestureRecognizer.State: CustomDebugStringConvertible {
     public var debugDescription: String {
         switch self {