首先，我们在Main.storyboard中创建UINavgationController：

在Main.storyboard中创建导航控制器.png

创建MainViewController并与之关联，因为主要是实现侧滑效果，所以就不在MainViewController中搭界面了。
接下来我们在Main.storyboard中再拖一个UIViewController，并创建一个MenuViewController与之关联。然后在界面上搭建你自己喜欢的界面，我是这样搭建的：

MenuViewController.png

下面我们来上代码咯：
在ViewController中：

 class ViewController: UIViewController {

  // 主页导航控制器
  var mainNavigationController:UINavigationController!

  // 主页面控制器
  var mainViewController:MainViewController!

  // 菜单页控制器
  var menuViewController:MenuViewController?

  // 菜单页当前状态
  var currentState = MenuState.Collapsed {
      didSet {
          //菜单展开的时候，给主页面边缘添加阴影
          let shouldShowShadow = currentState != .Collapsed
          showShadowForMainViewController(shouldShowShadow: shouldShowShadow)
      }
  }

  // 菜单打开后主页在屏幕右侧露出部分的宽度
  let menuViewExpandedOffset: CGFloat = 60

  // 侧滑菜单黑色半透明遮罩层
  var blackCover: UIView?

  // 最小缩放比例
  let minProportion: CGFloat = 0.77

//MARK: - life cycle
  override func viewDidLoad() {
      super.viewDidLoad()
    
      //状态栏文字改成白色
      UIApplication.shared.statusBarStyle = .lightContent;
    
      // 给根容器设置背景
      let imageView = UIImageView(image: UIImage(named: "back"))
      imageView.frame = UIScreen.main.bounds
      self.view.addSubview(imageView)
    
      //初始化主视图
      mainNavigationController = UIStoryboard(name: "Main", bundle: nil).instantiateViewController(withIdentifier: "mainNavigaiton") as! UINavigationController
      view.addSubview(mainNavigationController.view)
    
      //指定Navigation Bar左侧按钮的事件
      mainViewController = mainNavigationController.viewControllers.first as! MainViewController
      mainViewController.navigationItem.leftBarButtonItem?.action = #selector(ViewController.showMenu)
    
      //添加拖动手势
      let panGestureRecognizer = UIPanGestureRecognizer.init(target:self, action:#selector(handlePanGesture(recognizer:)))
      mainNavigationController.view.addGestureRecognizer(panGestureRecognizer)
    
      //单击收起菜单手势
      let tapGestureRecognizer = UITapGestureRecognizer.init(target: self, action: #selector(ViewController.handlePanGesture as (ViewController) -> () -> ()))
      mainNavigationController.view.addGestureRecognizer(tapGestureRecognizer)
}
//MARK: - event response
  //导航栏左侧按钮事件响应
  func showMenu() {
      //如果菜单是展开的则会收起，否则就展开
      if currentState == .Expanded {
          animateMainView(shouldExpand: false)
      }else {
          addMenuViewController()
          animateMainView(shouldExpand: true)
      }
  }

  //拖动手势响应
  func handlePanGesture(recognizer: UIPanGestureRecognizer) {
    
      switch(recognizer.state) {
      // 刚刚开始滑动
      case .began:
          // 判断拖动方向
          let dragFromLeftToRight = (recognizer.velocity(in: view).x > 0)
          // 如果刚刚开始滑动的时候还处于主页面，从左向右滑动加入侧面菜单
          if (currentState == .Collapsed && dragFromLeftToRight) {
              currentState = .Expanding
              addMenuViewController()
        }
        
        // 如果是正在滑动，则偏移主视图的坐标实现跟随手指位置移动
        case .changed:
          let screenWidth = view.bounds.size.width
          var centerX = recognizer.view!.center.x + recognizer.translation(in: view).x
          //页面滑到最左侧的话就不许要继续往左移动
          if centerX < screenWidth/2 { centerX = screenWidth/2 }
        
          // 计算缩放比例
          var proportion:CGFloat = (centerX - screenWidth/2) / (view.bounds.size.width - menuViewExpandedOffset)
          proportion = 1 - (1 - minProportion) * proportion
        
          // 执行视差特效
          blackCover?.alpha = (proportion - minProportion) / (1 - minProportion)
        
          //主页面滑到最左侧的话就不许要继续往左移动
          recognizer.view!.center.x = centerX
          recognizer.setTranslation(CGPoint.zero, in: view)
          //缩放主页面
          recognizer.view?.transform = CGAffineTransform.identity.scaledBy(x: proportion, y: proportion)
        
        // 如果滑动结束
        case .ended:
          //根据页面滑动是否过半，判断后面是自动展开还是收缩
          let hasMovedhanHalfway = recognizer.view!.center.x > view.bounds.size.width
          animateMainView(shouldExpand: hasMovedhanHalfway)
        default:
          break
      }
  }

  //单击手势响应
  func handlePanGesture() {
      //如果菜单是展开的点击主页部分则会收起
      if currentState == .Expanded {
          animateMainView(shouldExpand: false)
      }
  }
//MARK: - private methods
  // 添加菜单页
  func addMenuViewController() {
      if (menuViewController == nil) {
          menuViewController = UIStoryboard(name: "Main", bundle: nil).instantiateViewController(withIdentifier: "menuView") as? MenuViewController
        
          // 插入当前视图并置顶
          view.insertSubview(menuViewController!.view, belowSubview: mainNavigationController.view)
        
          // 建立父子关系
          addChildViewController(menuViewController!)
          menuViewController!.didMove(toParentViewController: self)
        
          // 在侧滑菜单之上增加黑色遮罩层，目的是实现视差特效
          blackCover = UIView(frame: CGRect(x: 0, y: 0, width: self.view.frame.size.width, height: self.view.frame.size.height))
          blackCover!.backgroundColor = UIColor.black
          self.view.insertSubview(blackCover!, belowSubview: mainNavigationController.view)
      }
  }

  //主页自动展开、收起动画
  func animateMainView(shouldExpand: Bool) {
      // 如果是用来展开
      if (shouldExpand) {
          // 更新当前状态
          currentState = .Expanded
          // 动画
            let mainPosition = view.bounds.size.width * (1+minProportion/2) - menuViewExpandedOffset doTheAnimate(mainPosition: mainPosition, mainProportion: minProportion, blackCoverAlpha: 0)
      }
      else {   // 如果是用于隐藏
          // 动画
          doTheAnimate(mainPosition: view.bounds.size.width/2, mainProportion: 1, blackCoverAlpha: 1) {
              finished in
              // 动画结束之后更新状态
              self.currentState = .Collapsed
              // 移除左侧视图
              self.menuViewController?.view.removeFromSuperview()
              // 释放内存
              self.menuViewController = nil;
              // 移除黑色遮罩层
              self.blackCover?.removeFromSuperview()
              // 释放内存
              self.blackCover = nil;
          }
      }
  }

  //主页移动动画、黑色遮罩层动画
  func doTheAnimate(mainPosition: CGFloat, mainProportion: CGFloat, blackCoverAlpha: CGFloat, completion: ((Bool) -> Void)! = nil) {
      //usingSpringWithDamping：1.0表示没有弹簧震动动画
      UIView.animate(withDuration: 0.5, delay: 0, usingSpringWithDamping: 1.0,
                               initialSpringVelocity: 0, options: .curveEaseInOut, animations: {
                                self.mainNavigationController.view.center.x = mainPosition
                                self.blackCover?.alpha = blackCoverAlpha
                                // 缩放主页面
                                self.mainNavigationController.view.transform = CGAffineTransform.identity.scaledBy(x: mainProportion, y: mainProportion)
                                
          }, completion: completion)
  }

  //给主页面边缘添加、取消阴影
  func showShadowForMainViewController(shouldShowShadow: Bool) {
      if (shouldShowShadow) {
          //需要遮挡不投明度为0.8
          mainNavigationController.view.layer.shadowOpacity = 0.8
      } else {
          mainNavigationController.view.layer.shadowOpacity = 0.0
      }
  }
}
// 菜单状态枚举
enum MenuState {
    case Collapsed  // 未显示(收起)
    case Expanding   // 展开中
    case Expanded   // 展开
}

在MenuViewController中：

 class MenuViewController: UIViewController , UITableViewDelegate, UITableViewDataSource{

   let titlesDictionary = ["开通会员", "QQ钱包", "网上营业厅", "个性装扮", "我的收藏", "我的相册"]

  @IBOutlet weak var settingTableView: UITableView!
//MARK: - life cycle
  override func viewDidLoad() {
      super.viewDidLoad()

      settingTableView.delegate = self
      settingTableView.dataSource = self
      settingTableView.tableFooterView = UIView()

   }
//MARK: - TableViewDelegate
  // 处理点击事件
  func tableView(_ tableView: UITableView, didSelectRowAt indexPath: IndexPath) {
      print(titlesDictionary[indexPath.row])
      tableView.deselectRow(at: indexPath, animated: false)
}

  func tableView(_ tableView: UITableView, numberOfRowsInSection section: Int) -> Int {
      return titlesDictionary.count
  }  

  func numberOfSectionsInTableView(tableView: UITableView) -> Int {
      return 1
  }

  func tableView(_ tableView: UITableView, cellForRowAt indexPath: IndexPath) -> UITableViewCell {
      let cell = tableView.dequeueReusableCell(withIdentifier: "menuViewCell", for: indexPath)
    
      cell.backgroundColor = UIColor.clear
      cell.textLabel!.text = titlesDictionary[indexPath.row]
    
      return cell
  }
}

最终点击menu，实现如下效果：

最终实现效果.png

好啦，侧滑效果实现啦~~~