diff --git a/Sources/CShaderTypes/ShaderTypes.h b/Sources/CShaderTypes/ShaderTypes.h
index cab98082..cccf9bc4 100644
--- a/Sources/CShaderTypes/ShaderTypes.h
+++ b/Sources/CShaderTypes/ShaderTypes.h
@@ -121,7 +121,8 @@ typedef enum{
 
 typedef enum{
     debugPassModeIndex,
-    debugPassFrustumPlanesIndex
+    debugPassFrustumPlanesIndex,
+    debugPassReverseZIndex
 }DebugPassBufferIndices;
 
 typedef enum{
diff --git a/Sources/DemoGame/AppDelegate.swift b/Sources/DemoGame/AppDelegate.swift
index a1dcdd69..9ef5cfac 100644
--- a/Sources/DemoGame/AppDelegate.swift
+++ b/Sources/DemoGame/AppDelegate.swift
@@ -12,7 +12,12 @@
     final class AppDelegate: NSObject, NSApplicationDelegate {
         private enum Constants {
             static let appVersion = "0.12.10"
-            static let windowSize = NSSize(width: 1920, height: 1080)
+            static let defaultWindowSize = NSSize(width: 1920, height: 1080)
+            static let minimumWindowSize = NSSize(width: 640, height: 480)
+        }
+
+        private struct LaunchOptions {
+            var windowSize = Constants.defaultWindowSize
         }
 
         private enum ExportError: LocalizedError {
@@ -37,7 +42,11 @@
         func applicationDidFinishLaunching(_: Notification) {
             print("Launching Untold Engine v\(Constants.appVersion)")
 
-            setupWindow()
+            guard let launchOptions = parseLaunchOptions(arguments: CommandLine.arguments) else {
+                NSApp.terminate(nil)
+                return
+            }
+            setupWindow(size: launchOptions.windowSize)
             setupRendererAndScene()
             wireDemoStateCallbacks()
             presentHUD()
@@ -47,17 +56,90 @@
             true
         }
 
-        private func setupWindow() {
+        private func setupWindow(size: NSSize) {
             window = NSWindow(
-                contentRect: NSRect(origin: .zero, size: Constants.windowSize),
+                contentRect: NSRect(origin: .zero, size: size),
                 styleMask: [.titled, .closable, .resizable],
                 backing: .buffered,
                 defer: false
             )
             window.title = "Untold Engine v\(Constants.appVersion)"
+            window.minSize = Constants.minimumWindowSize
             window.center()
         }
 
+        private func parseLaunchOptions(arguments: [String]) -> LaunchOptions? {
+            var options = LaunchOptions()
+            var index = 1
+
+            while index < arguments.count {
+                let argument = arguments[index]
+
+                if argument == "--help" || argument == "-h" {
+                    printUsage()
+                    return nil
+                }
+
+                if argument == "--resolution" {
+                    guard index + 1 < arguments.count else {
+                        print("Missing value for --resolution. Expected WIDTHxHEIGHT, for example 800x600.")
+                        printUsage()
+                        return nil
+                    }
+
+                    if let size = parseResolution(arguments[index + 1]) {
+                        options.windowSize = size
+                    } else {
+                        print("Invalid resolution '\(arguments[index + 1])'. Expected WIDTHxHEIGHT with minimum 640x480.")
+                        printUsage()
+                        return nil
+                    }
+                    index += 2
+                    continue
+                }
+
+                if argument.hasPrefix("--resolution=") {
+                    let value = String(argument.dropFirst("--resolution=".count))
+                    if let size = parseResolution(value) {
+                        options.windowSize = size
+                    } else {
+                        print("Invalid resolution '\(value)'. Expected WIDTHxHEIGHT with minimum 640x480.")
+                        printUsage()
+                        return nil
+                    }
+                }
+
+                index += 1
+            }
+
+            return options
+        }
+
+        private func parseResolution(_ value: String) -> NSSize? {
+            let normalized = value.lowercased()
+            let parts = normalized.split(separator: "x", omittingEmptySubsequences: false)
+            guard parts.count == 2,
+                  let width = Double(parts[0]),
+                  let height = Double(parts[1]),
+                  width >= Constants.minimumWindowSize.width,
+                  height >= Constants.minimumWindowSize.height
+            else {
+                return nil
+            }
+
+            return NSSize(width: width, height: height)
+        }
+
+        private func printUsage() {
+            print("""
+            Usage: swift run untolddemo [--resolution WIDTHxHEIGHT]
+
+            Options:
+              --resolution WIDTHxHEIGHT  Start the demo at a specific window size, for example 800x600.
+              -h, --help                 Show this help.
+            """)
+        }
+
         private func setupRendererAndScene() {
             guard let renderer = UntoldRenderer.create() else {
                 print("Failed to initialize the renderer.")
@@ -162,6 +244,9 @@
             demoState.onTileBoundsChanged = { enabled in
                 setTileBoundsDebug(enabled: enabled)
             }
+            demoState.onMouseOverControlPanelChanged = { [weak self] isOver in
+                self?.gameScene.suppressCameraInput = isOver
+            }
         }
 
         private func presentHUD() {
diff --git a/Sources/DemoGame/DemoHUD.swift b/Sources/DemoGame/DemoHUD.swift
index 8597b9b9..e5a92557 100644
--- a/Sources/DemoGame/DemoHUD.swift
+++ b/Sources/DemoGame/DemoHUD.swift
@@ -59,9 +59,31 @@
     }
 
     struct DemoHUD: View {
+        private struct ResolutionPreset: Identifiable {
+            let label: String
+            let size: NSSize
+
+            var id: String {
+                label
+            }
+        }
+
         private enum Constants {
             static let statsRefreshInterval: TimeInterval = 0.1
             static let usdzExtension = "usdz"
+            static let compactWidth: CGFloat = 980
+            static let panelCornerRadius: CGFloat = 8
+            static let panelPadding: CGFloat = 12
+            static let edgePadding: CGFloat = 16
+            static let compactMinimumPanelHeight: CGFloat = 220
+            static let controlsPanelWidth: CGFloat = 320
+            static let sidePanelWidth: CGFloat = 260
+            static let resolutionPresets: [ResolutionPreset] = [
+                .init(label: "800x600", size: NSSize(width: 800, height: 600)),
+                .init(label: "1280x720", size: NSSize(width: 1280, height: 720)),
+                .init(label: "1600x900", size: NSSize(width: 1600, height: 900)),
+                .init(label: "1920x1080", size: NSSize(width: 1920, height: 1080)),
+            ]
         }
 
         private enum LocalImportMode {
@@ -82,240 +104,335 @@
         @Bindable var state: DemoState
         @State private var showFilePicker = false
         @State private var localImportMode: LocalImportMode = .asset
+        @State private var areControlsVisible = false
+        @State private var areStatsVisibleInCompact = false
 
         var body: some View {
-            ZStack(alignment: .topLeading) {
-                SceneView(renderer: renderer)
+            GeometryReader { proxy in
+                let isCompact = proxy.size.width < Constants.compactWidth
+                let controlsWidth = max(
+                    260,
+                    min(Constants.controlsPanelWidth, proxy.size.width - Constants.edgePadding * 2)
+                )
+
+                ZStack(alignment: .topLeading) {
+                    SceneView(renderer: renderer)
+
+                    if isCompact {
+                        if areControlsVisible {
+                            ScrollView {
+                                controlsPanel
+                                    .padding(Constants.panelPadding)
+                            }
+                            .frame(width: controlsWidth, alignment: .topLeading)
+                            .frame(
+                                maxHeight: max(Constants.compactMinimumPanelHeight, proxy.size.height - Constants.edgePadding * 2),
+                                alignment: .topLeading
+                            )
+                            .background(.regularMaterial, in: RoundedRectangle(cornerRadius: Constants.panelCornerRadius))
+                            .padding(Constants.edgePadding)
+                            .onHover { state.isMouseOverControlPanel = $0 }
+                        }
+                    } else {
+                        controlsPanel
+                            .padding(Constants.panelPadding)
+                            .frame(width: Constants.controlsPanelWidth, alignment: .topLeading)
+                            .background(.regularMaterial, in: RoundedRectangle(cornerRadius: Constants.panelCornerRadius))
+                            .padding(Constants.edgePadding)
+                            .onHover { state.isMouseOverControlPanel = $0 }
+                    }
+
+                    if isCompact {
+                        compactTopBar
+                            .padding(Constants.edgePadding)
+                            .frame(maxWidth: .infinity, alignment: .topTrailing)
+                    } else {
+                        sidePanel
+                            .padding(Constants.edgePadding)
+                            .frame(maxWidth: .infinity, alignment: .topTrailing)
+                    }
+                }
+            }
+            .onReceive(Timer.publish(every: Constants.statsRefreshInterval, on: .main, in: .common).autoconnect()) { _ in
+                if state.showStats {
+                    state.stats = getEngineStatsSnapshot()
+                }
+            }
+            .fileImporter(
+                isPresented: $showFilePicker,
+                allowedContentTypes: localImportMode.allowedContentTypes
+            ) { result in
+                handleLocalImport(result)
+            }
+            .sheet(isPresented: $state.showExportPanel) {
+                DemoExportSheet(state: state)
+            }
+        }
 
-                VStack(alignment: .leading, spacing: 8) {
+        private var controlsPanel: some View {
+            VStack(alignment: .leading, spacing: 8) {
+                HStack(alignment: .center, spacing: 8) {
                     sectionLabel("SCENES")
+                    Spacer()
+                    resolutionMenu
+                }
 
-                    HStack(alignment: .center, spacing: 8) {
-                        Picker("Remote Scene", selection: $state.selectedRemoteSceneID) {
-                            ForEach(state.remoteScenes) { scene in
-                                Text(scene.title).tag(scene.id)
-                            }
-                        }
-                        .pickerStyle(.menu)
-                        .frame(maxWidth: .infinity, alignment: .leading)
-                        .disabled(state.isLoading || state.remoteScenes.isEmpty)
-                        Button("Load", action: loadSelectedRemoteScene)
-                            .buttonStyle(.borderedProminent)
-                            .tint(.blue)
-                            .disabled(state.isLoading || state.selectedRemoteScene?.manifestURL == nil)
-                        if state.isLoading {
-                            ProgressView()
-                                .scaleEffect(0.6)
-                                .frame(width: 16, height: 16)
+                HStack(alignment: .center, spacing: 8) {
+                    Picker("Remote Scene", selection: $state.selectedRemoteSceneID) {
+                        ForEach(state.remoteScenes) { scene in
+                            Text(scene.title).tag(scene.id)
                         }
                     }
+                    .pickerStyle(.menu)
+                    .frame(maxWidth: .infinity, alignment: .leading)
+                    .disabled(state.isLoading || state.remoteScenes.isEmpty)
+                    Button("Load", action: loadSelectedRemoteScene)
+                        .buttonStyle(.borderedProminent)
+                        .tint(.blue)
+                        .disabled(state.isLoading || state.selectedRemoteScene?.manifestURL == nil)
+                    if state.isLoading {
+                        ProgressView()
+                            .scaleEffect(0.6)
+                            .frame(width: 16, height: 16)
+                    }
+                }
 
-                    HStack(alignment: .center, spacing: 8) {
-                        Text("Local Scene")
-                            .foregroundStyle(.secondary)
-                            .frame(width: 92, alignment: .leading)
-                        Menu("Browse") {
-                            Button("Asset (.untold)", action: openLocalAssetPicker)
-                            Button("Tiled Scene (.json)", action: openLocalTiledScenePicker)
-                        }
-                        .disabled(state.isLoading)
-                        Spacer(minLength: 0)
+                HStack(alignment: .center, spacing: 8) {
+                    Text("Local Scene")
+                        .foregroundStyle(.secondary)
+                        .frame(width: 92, alignment: .leading)
+                    Menu("Browse") {
+                        Button("Asset (.untold)", action: openLocalAssetPicker)
+                        Button("Tiled Scene (.json)", action: openLocalTiledScenePicker)
                     }
+                    .disabled(state.isLoading)
+                    Spacer(minLength: 0)
+                }
 
-                    Divider()
+                Divider()
 
-                    sectionLabel("CONTROLS")
-                    controlHint("WASD / QE", "Translate")
-                    controlHint("Right-drag (+ Shift)", "Orbit / Yaw")
-                    controlHint("Two-finger swipe (+ Shift)", "Orbit / Yaw")
+                sectionLabel("CONTROLS")
+                controlHint("WASD / QE", "Translate")
+                controlHint("Right-drag (+ Shift)", "Orbit / Yaw")
+                controlHint("Two-finger swipe (+ Shift)", "Orbit / Yaw")
 
-                    Divider()
+                Divider()
 
-                    sectionLabel("FEATURES")
+                sectionLabel("FEATURES")
 
-                    Toggle("Static Batching", isOn: $state.batchingEnabled)
-                        .toggleStyle(.checkbox)
-                        .disabled(!state.hasLoadedEntity || state.isLoading)
+                Toggle("Static Batching", isOn: $state.batchingEnabled)
+                    .toggleStyle(.checkbox)
+                    .disabled(!state.hasLoadedEntity || state.isLoading)
 
-                    Toggle("Geometry Streaming", isOn: $state.streamingEnabled)
-                        .toggleStyle(.checkbox)
-                        .disabled(!state.hasLoadedEntity || state.isLoading)
-
-                    HStack {
-                        Text("Stream Radius").foregroundStyle(.secondary)
-                        Spacer()
-                        TextField("", value: $state.streamingRadius, format: .number)
-                            .textFieldStyle(.roundedBorder)
-                            .frame(width: 70)
-                    }
-                    .padding(.leading, 12)
-                    .opacity(state.streamingEnabled ? 1.0 : 0.35)
-                    .disabled(!state.streamingEnabled)
-
-                    HStack {
-                        Text("Unload Radius").foregroundStyle(.secondary)
-                        Spacer()
-                        TextField("", value: $state.unloadRadius, format: .number)
-                            .textFieldStyle(.roundedBorder)
-                            .frame(width: 70)
-                    }
-                    .padding(.leading, 12)
-                    .opacity(state.streamingEnabled ? 1.0 : 0.35)
-                    .disabled(!state.streamingEnabled)
+                Toggle("Geometry Streaming", isOn: $state.streamingEnabled)
+                    .toggleStyle(.checkbox)
+                    .disabled(!state.hasLoadedEntity || state.isLoading)
+
+                HStack {
+                    Text("Stream Radius").foregroundStyle(.secondary)
+                    Spacer()
+                    TextField("", value: $state.streamingRadius, format: .number)
+                        .textFieldStyle(.roundedBorder)
+                        .frame(width: 70)
+                }
+                .padding(.leading, 12)
+                .opacity(state.streamingEnabled ? 1.0 : 0.35)
+                .disabled(!state.streamingEnabled)
 
-                    Divider()
+                HStack {
+                    Text("Unload Radius").foregroundStyle(.secondary)
+                    Spacer()
+                    TextField("", value: $state.unloadRadius, format: .number)
+                        .textFieldStyle(.roundedBorder)
+                        .frame(width: 70)
+                }
+                .padding(.leading, 12)
+                .opacity(state.streamingEnabled ? 1.0 : 0.35)
+                .disabled(!state.streamingEnabled)
 
-                    sectionLabel("POST FX")
+                Divider()
 
-                    HStack(alignment: .center, spacing: 8) {
-                        Picker("Preset", selection: $state.selectedPostFXPreset) {
-                            ForEach(DemoState.PostFXPreset.allCases) { preset in
-                                Text(preset.rawValue).tag(preset)
-                            }
-                        }
-                        .pickerStyle(.menu)
+                sectionLabel("POST FX")
 
-                        Button("Apply") {
-                            state.applySelectedPostFXPreset()
+                HStack(alignment: .center, spacing: 8) {
+                    Picker("Preset", selection: $state.selectedPostFXPreset) {
+                        ForEach(DemoState.PostFXPreset.allCases) { preset in
+                            Text(preset.rawValue).tag(preset)
                         }
-                        .buttonStyle(.bordered)
                     }
+                    .pickerStyle(.menu)
 
-                    Toggle("Color Grading", isOn: $state.colorGradingEnabled)
-                        .toggleStyle(.checkbox)
-
-                    sliderRow(
-                        title: "Exposure",
-                        value: $state.exposure,
-                        range: -4.0 ... 4.0,
-                        enabled: state.colorGradingEnabled
-                    )
+                    Button("Apply") {
+                        state.applySelectedPostFXPreset()
+                    }
+                    .buttonStyle(.bordered)
+                }
 
-                    sliderRow(
-                        title: "Brightness",
-                        value: $state.brightness,
-                        range: -1.0 ... 1.0,
-                        enabled: state.colorGradingEnabled
-                    )
+                Toggle("Color Grading", isOn: $state.colorGradingEnabled)
+                    .toggleStyle(.checkbox)
+
+                sliderRow(
+                    title: "Exposure",
+                    value: $state.exposure,
+                    range: -4.0 ... 4.0,
+                    enabled: state.colorGradingEnabled
+                )
+
+                sliderRow(
+                    title: "Brightness",
+                    value: $state.brightness,
+                    range: -1.0 ... 1.0,
+                    enabled: state.colorGradingEnabled
+                )
+
+                sliderRow(
+                    title: "Contrast",
+                    value: $state.contrast,
+                    range: 0.0 ... 2.0,
+                    enabled: state.colorGradingEnabled
+                )
+
+                sliderRow(
+                    title: "Saturation",
+                    value: $state.saturation,
+                    range: 0.0 ... 2.0,
+                    enabled: state.colorGradingEnabled
+                )
+
+                Toggle("SSAO", isOn: $state.ssaoEnabled)
+                    .toggleStyle(.checkbox)
+
+                sliderRow(
+                    title: "SSAO Radius",
+                    value: $state.ssaoRadius,
+                    range: 0.1 ... 2.0,
+                    enabled: state.ssaoEnabled
+                )
+
+                sliderRow(
+                    title: "SSAO Bias",
+                    value: $state.ssaoBias,
+                    range: 0.0 ... 0.1,
+                    enabled: state.ssaoEnabled
+                )
+
+                sliderRow(
+                    title: "SSAO Intensity",
+                    value: $state.ssaoIntensity,
+                    range: 0.0 ... 2.0,
+                    enabled: state.ssaoEnabled
+                )
 
-                    sliderRow(
-                        title: "Contrast",
-                        value: $state.contrast,
-                        range: 0.0 ... 2.0,
-                        enabled: state.colorGradingEnabled
-                    )
+                Divider()
 
-                    sliderRow(
-                        title: "Saturation",
-                        value: $state.saturation,
-                        range: 0.0 ... 2.0,
-                        enabled: state.colorGradingEnabled
-                    )
+                sectionLabel("DEBUG")
 
-                    Toggle("SSAO", isOn: $state.ssaoEnabled)
-                        .toggleStyle(.checkbox)
+                Toggle("LOD Debug", isOn: $state.lodDebugEnabled)
+                    .toggleStyle(.checkbox)
 
-                    sliderRow(
-                        title: "SSAO Radius",
-                        value: $state.ssaoRadius,
-                        range: 0.1 ... 2.0,
-                        enabled: state.ssaoEnabled
-                    )
+                Toggle("Texture Streaming Debug", isOn: $state.textureStreamingTierDebugEnabled)
+                    .toggleStyle(.checkbox)
 
-                    sliderRow(
-                        title: "SSAO Bias",
-                        value: $state.ssaoBias,
-                        range: 0.0 ... 0.1,
-                        enabled: state.ssaoEnabled
-                    )
+                Picker("G-Buffer View", selection: $state.renderDebugView) {
+                    Text("Lit").tag(RenderDebugViewMode.lit)
+                    Text("Albedo").tag(RenderDebugViewMode.albedo)
+                    Text("Normal").tag(RenderDebugViewMode.normal)
+                    Text("Depth").tag(RenderDebugViewMode.depth)
+                    Text("SSAO (Blurred)").tag(RenderDebugViewMode.ssaoBlurred)
+                }
+                .pickerStyle(.menu)
 
-                    sliderRow(
-                        title: "SSAO Intensity",
-                        value: $state.ssaoIntensity,
-                        range: 0.0 ... 2.0,
-                        enabled: state.ssaoEnabled
-                    )
+                Toggle("Spatial Debug", isOn: $state.spatialDebugEnabled)
+                    .toggleStyle(.checkbox)
+                if state.spatialDebugEnabled {
+                    Toggle("Occupied Only", isOn: $state.spatialOccupiedOnly)
+                        .toggleStyle(.checkbox)
+                        .padding(.leading, 12)
+                    Picker("Mode", selection: $state.spatialColorMode) {
+                        Text("Plain").tag(SpatialDebugLeafColorMode.plain)
+                        Text("Residency").tag(SpatialDebugLeafColorMode.residency)
+                        Text("Culling").tag(SpatialDebugLeafColorMode.culling)
+                    }
+                    .pickerStyle(.segmented)
+                    .frame(minWidth: 180)
+                    Toggle("Tile Bounds", isOn: $state.tileBoundsEnabled)
+                        .toggleStyle(.checkbox)
+                        .padding(.leading, 12)
+                }
 
-                    Divider()
+                Divider()
 
-                    sectionLabel("DEBUG")
+                Toggle("Engine Stats", isOn: $state.showStats)
+                    .toggleStyle(.checkbox)
+            }
+        }
 
-                    Toggle("LOD Debug", isOn: $state.lodDebugEnabled)
-                        .toggleStyle(.checkbox)
+        private var sidePanel: some View {
+            HStack {
+                Spacer()
+                VStack(alignment: .trailing, spacing: 12) {
+                    if state.showStats {
+                        StatsPanel(stats: state.stats)
+                            .frame(width: Constants.sidePanelWidth)
+                    }
 
-                    Toggle("Texture Streaming Debug", isOn: $state.textureStreamingTierDebugEnabled)
-                        .toggleStyle(.checkbox)
+                    DemoToolsPanel(
+                        isBusy: state.isLoading || state.isExporting,
+                        isExporting: state.isExporting,
+                        openExportSheet: { state.showExportPanel = true }
+                    )
+                    .frame(width: Constants.sidePanelWidth)
+                }
+            }
+        }
 
-                    Picker("G-Buffer View", selection: $state.renderDebugView) {
-                        Text("Lit").tag(RenderDebugViewMode.lit)
-                        Text("Albedo").tag(RenderDebugViewMode.albedo)
-                        Text("Normal").tag(RenderDebugViewMode.normal)
-                        Text("Depth").tag(RenderDebugViewMode.depth)
-                        Text("SSAO (Blurred)").tag(RenderDebugViewMode.ssaoBlurred)
+        private var compactTopBar: some View {
+            VStack(alignment: .trailing, spacing: 8) {
+                HStack(spacing: 8) {
+                    Button(areControlsVisible ? "Hide Controls" : "Controls") {
+                        areControlsVisible.toggle()
                     }
-                    .pickerStyle(.menu)
+                    .buttonStyle(.borderedProminent)
 
-                    Toggle("Spatial Debug", isOn: $state.spatialDebugEnabled)
-                        .toggleStyle(.checkbox)
-                    if state.spatialDebugEnabled {
-                        Toggle("Occupied Only", isOn: $state.spatialOccupiedOnly)
-                            .toggleStyle(.checkbox)
-                            .padding(.leading, 12)
-                        Picker("Mode", selection: $state.spatialColorMode) {
-                            Text("Plain").tag(SpatialDebugLeafColorMode.plain)
-                            Text("Residency").tag(SpatialDebugLeafColorMode.residency)
-                            Text("Culling").tag(SpatialDebugLeafColorMode.culling)
-                        }
-                        .pickerStyle(.segmented)
-                        .frame(minWidth: 180)
-                        Toggle("Tile Bounds", isOn: $state.tileBoundsEnabled)
-                            .toggleStyle(.checkbox)
-                            .padding(.leading, 12)
-                    }
+                    resolutionMenu
 
-                    Divider()
+                    Button(areStatsVisibleInCompact ? "Hide Stats" : "Stats") {
+                        areStatsVisibleInCompact.toggle()
+                    }
+                    .buttonStyle(.bordered)
+                    .disabled(!state.showStats)
 
-                    Toggle("Engine Stats", isOn: $state.showStats)
-                        .toggleStyle(.checkbox)
+                    Button("Export") {
+                        state.showExportPanel = true
+                    }
+                    .buttonStyle(.bordered)
+                    .disabled(state.isLoading || state.isExporting)
                 }
-                .padding(12)
-                .fixedSize(horizontal: true, vertical: false)
-                .background(.regularMaterial, in: RoundedRectangle(cornerRadius: 8))
-                .padding()
-
-                HStack {
-                    Spacer()
-                    VStack(alignment: .trailing, spacing: 12) {
-                        if state.showStats {
-                            StatsPanel(stats: state.stats)
-                                .frame(width: 260)
-                        }
+                .padding(8)
+                .background(.regularMaterial, in: RoundedRectangle(cornerRadius: Constants.panelCornerRadius))
 
-                        DemoToolsPanel(
-                            isBusy: state.isLoading || state.isExporting,
-                            isExporting: state.isExporting,
-                            openExportSheet: { state.showExportPanel = true }
-                        )
-                        .frame(width: 260)
-                    }
-                    .padding()
+                if areStatsVisibleInCompact, state.showStats {
+                    StatsPanel(stats: state.stats)
+                        .frame(width: Constants.sidePanelWidth)
                 }
-                .frame(maxWidth: .infinity, alignment: .topTrailing)
             }
-            .onReceive(Timer.publish(every: Constants.statsRefreshInterval, on: .main, in: .common).autoconnect()) { _ in
-                if state.showStats {
-                    state.stats = getEngineStatsSnapshot()
+        }
+
+        private var resolutionMenu: some View {
+            Menu("Resolution") {
+                ForEach(Constants.resolutionPresets) { preset in
+                    Button(preset.label) {
+                        resizeWindow(to: preset.size)
+                    }
                 }
             }
-            .fileImporter(
-                isPresented: $showFilePicker,
-                allowedContentTypes: localImportMode.allowedContentTypes
-            ) { result in
-                handleLocalImport(result)
-            }
-            .sheet(isPresented: $state.showExportPanel) {
-                DemoExportSheet(state: state)
-            }
+            .menuStyle(.button)
+        }
+
+        private func resizeWindow(to size: NSSize) {
+            guard let window = NSApp.keyWindow ?? NSApp.windows.first else { return }
+            window.setContentSize(size)
+            window.center()
         }
 
         private func sectionLabel(_ text: String) -> some View {
diff --git a/Sources/DemoGame/DemoState.swift b/Sources/DemoGame/DemoState.swift
index 94c343a6..127a27de 100644
--- a/Sources/DemoGame/DemoState.swift
+++ b/Sources/DemoGame/DemoState.swift
@@ -223,6 +223,10 @@
         var showStats: Bool = true
         var stats: EngineStatsSnapshot = .init()
 
+        var isMouseOverControlPanel: Bool = false {
+            didSet { onMouseOverControlPanelChanged?(isMouseOverControlPanel) }
+        }
+
         // MARK: - Callbacks (wired by AppDelegate)
 
         var onLoadFile: ((String, @escaping @Sendable (Bool) -> Void) -> Void)?
@@ -238,6 +242,7 @@
         var onRenderDebugViewChanged: ((RenderDebugViewMode) -> Void)?
         var onSpatialDebugChanged: ((Bool, Bool, SpatialDebugLeafColorMode) -> Void)?
         var onTileBoundsChanged: ((Bool) -> Void)?
+        var onMouseOverControlPanelChanged: ((Bool) -> Void)?
 
         func applySelectedPostFXPreset() {
             let preset = selectedPostFXPreset.enginePreset
diff --git a/Sources/DemoGame/GameScene.swift b/Sources/DemoGame/GameScene.swift
index cb01cd87..e32771cf 100644
--- a/Sources/DemoGame/GameScene.swift
+++ b/Sources/DemoGame/GameScene.swift
@@ -50,6 +50,7 @@
         private var cameraBehavior: CameraBehavior = .flyOrbit
         private var wasRightMousePressed: Bool = false
         private var wasScrolling: Bool = false
+        var suppressCameraInput: Bool = false
 
         init() {
             InputSystem.shared.registerKeyboardEvents()
@@ -315,7 +316,7 @@
             )
             // }
 
-            if input.keyState.rightMousePressed {
+            if input.keyState.rightMousePressed, !suppressCameraInput {
                 if !wasRightMousePressed {
                     resetOrbitTarget(entityId: camera)
                 }
@@ -340,7 +341,7 @@
             // right-click drag. resetOrbitTarget fires only on the first scroll
             // frame, matching the right-mouse-press behaviour above.
             let scroll = input.scrollDelta
-            let isScrolling = (scroll.x != 0 || scroll.y != 0) && !input.keyState.rightMousePressed
+            let isScrolling = (scroll.x != 0 || scroll.y != 0) && !input.keyState.rightMousePressed && !suppressCameraInput
             if isScrolling {
                 if !wasScrolling {
                     resetOrbitTarget(entityId: camera)
diff --git a/Sources/UntoldEngine/Renderer/Pipelines/RenderPipeLines.swift b/Sources/UntoldEngine/Renderer/Pipelines/RenderPipeLines.swift
index 62aadd44..70850d3b 100644
--- a/Sources/UntoldEngine/Renderer/Pipelines/RenderPipeLines.swift
+++ b/Sources/UntoldEngine/Renderer/Pipelines/RenderPipeLines.swift
@@ -154,7 +154,7 @@ public func InitGridPipeline() -> RenderPipeline? {
         vertexDescriptor: createGridVertexDescriptor(),
         colorFormats: [wf.environment],
         depthFormat: renderInfo.depthPixelFormat,
-        depthCompareFunction: MTLCompareFunction.less,
+        depthCompareFunction: MTLCompareFunction.lessEqual,
         depthEnabled: false,
         blendMode: .alphaStraight,
         name: "Grid Pipeline"
diff --git a/Sources/UntoldEngine/Renderer/RenderPasses.swift b/Sources/UntoldEngine/Renderer/RenderPasses.swift
index e7ff1cc4..d8a9f553 100644
--- a/Sources/UntoldEngine/Renderer/RenderPasses.swift
+++ b/Sources/UntoldEngine/Renderer/RenderPasses.swift
@@ -489,23 +489,21 @@ public enum RenderPasses {
         // update uniforms
         var gridUniforms = Uniforms()
 
-        let modelMatrix = simd_float4x4.init(1.0)
-
         guard let camera = CameraSystem.shared.activeCamera, let cameraComponent = scene.get(component: CameraComponent.self, for: camera) else {
             handleError(.noActiveCamera)
             return
         }
-        var viewMatrix: simd_float4x4 = cameraComponent.viewSpace
-
-        viewMatrix = viewMatrix.inverse
-        let modelViewMatrix = simd_mul(viewMatrix, modelMatrix)
 
-        gridUniforms.modelViewMatrix = modelViewMatrix
-        gridUniforms.viewMatrix = viewMatrix
-
-        // Note, the perspective projection space has to be inverted to create the infinite grid
+        // viewMatrix (inverted) and projectionMatrix (inverted) are used by the vertex shader
+        // to unproject NDC corners into world-space rays for the infinite grid.
+        let invView = cameraComponent.viewSpace.inverse
+        gridUniforms.viewMatrix = invView
         gridUniforms.projectionMatrix = renderInfo.perspectiveSpace.inverse
 
+        // modelViewMatrix repurposed: stores the forward P*V matrix so the fragment shader
+        // can compute correct clip-space depth regardless of Z convention.
+        gridUniforms.modelViewMatrix = simd_mul(renderInfo.perspectiveSpace, cameraComponent.viewSpace)
+
         if let gridUniformBuffer = bufferResources.gridUniforms {
             gridUniformBuffer.contents().copyMemory(
                 from: &gridUniforms, byteCount: MemoryLayout<Uniforms>.stride
diff --git a/Sources/UntoldEngine/Renderer/UntoldEngine.swift b/Sources/UntoldEngine/Renderer/UntoldEngine.swift
index d31a8f89..b8de3cb0 100644
--- a/Sources/UntoldEngine/Renderer/UntoldEngine.swift
+++ b/Sources/UntoldEngine/Renderer/UntoldEngine.swift
@@ -66,7 +66,7 @@ public class UntoldRenderer: NSObject, MTKViewDelegate {
         }
         renderInfo.device = device
         renderInfo.commandQueue = commandQueue
-        renderInfo.reverseZEnabled = false
+        renderInfo.reverseZEnabled = true
         renderInfo.colorPixelFormat = .rgba16Float
         renderInfo.depthPixelFormat = renderer.metalView.depthStencilPixelFormat
         renderInfo.viewPort = simd_float2(
@@ -107,7 +107,7 @@ public class UntoldRenderer: NSObject, MTKViewDelegate {
         }
 
         renderInfo.commandQueue = commandQueue
-        renderInfo.reverseZEnabled = false
+        renderInfo.reverseZEnabled = true
         renderInfo.colorPixelFormat = .rgba16Float
         renderInfo.depthPixelFormat = view.depthStencilPixelFormat
         renderInfo.viewPort = simd_float2(
@@ -525,9 +525,9 @@ public class UntoldRenderer: NSObject, MTKViewDelegate {
         }
 
         let aspect = Float(size.width) / Float(size.height)
-        let projectionMatrix = matrixPerspectiveRightHand(
-            fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far
-        )
+        let projectionMatrix = renderInfo.reverseZEnabled
+            ? matrixPerspectiveRightHandReverseZ(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
+            : matrixPerspectiveRightHand(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
 
         renderInfo.perspectiveSpace = projectionMatrix
 
@@ -668,7 +668,7 @@ public class UntoldRenderer: NSObject, MTKViewDelegate {
         }
 
         renderInfo.commandQueue = commandQueue
-        renderInfo.reverseZEnabled = false
+        renderInfo.reverseZEnabled = true
         renderInfo.colorPixelFormat = view.colorPixelFormat
         renderInfo.depthPixelFormat = view.depthStencilPixelFormat
         renderInfo.viewPort = simd_float2(Float(view.bounds.size.width), Float(view.bounds.size.height))
diff --git a/Sources/UntoldEngine/Shaders/GridShader.metal b/Sources/UntoldEngine/Shaders/GridShader.metal
index c91d7126..c3a2ffd3 100644
--- a/Sources/UntoldEngine/Shaders/GridShader.metal
+++ b/Sources/UntoldEngine/Shaders/GridShader.metal
@@ -49,11 +49,10 @@ float3 unprojectPoint(float x, float y, float z, float4x4 uView, float4x4 uProje
     return unprojPoint.xyz/unprojPoint.w;
 }
 
-float computeDepth(float3 pos, float4x4 uView, float4x4 uProjection){
-
-    float4 clipSpacePos=uProjection*uView*float4(pos.xyz,1.0);
-    return (clipSpacePos.z/clipSpacePos.w);
-
+// vpMatrix must be the forward P*V transform (stored in uniformSpace.modelViewMatrix).
+float computeDepth(float3 pos, float4x4 vpMatrix){
+    float4 clipSpacePos = vpMatrix * float4(pos.xyz, 1.0);
+    return clipSpacePos.z / clipSpacePos.w;
 }
 
 float4 computeGrid(float3 uFragPos,float uScale){
@@ -81,16 +80,11 @@ float4 computeGrid(float3 uFragPos,float uScale){
     return color;
 }
 
-float computeLinearDepth(float3 pos,float near,float far, float4x4 uView, float4x4 uProjection){
-
-    float4 clipSpacePos=uProjection*uView*float4(pos.xyz,1.0);
-
-    float clipSpaceDepth=(clipSpacePos.z/clipSpacePos.w)*2.0-1.0; //put back between -1 and 1
-
-    float linearDepth=(2.0*near*far)/(far+near-clipSpaceDepth*(far-near)); //get linear value between 0.01 and 100
-
-    return linearDepth/far;
-
+// Computes normalized [0,1] distance from the camera to pos, independent of Z convention.
+// uInvView must be V^{-1} (stored in uniformSpace.viewMatrix); its translation column is the camera world position.
+float computeLinearDepth(float3 pos, float far, float4x4 uInvView){
+    float3 cameraPos = (uInvView * float4(0.0, 0.0, 0.0, 1.0)).xyz;
+    return length(pos - cameraPos) / far;
 }
 
 
@@ -117,16 +111,16 @@ fragment FragmentOut fragmentGridShader(VertexOutput vertexOut [[stage_in]], con
 
     FragmentOut finalColor;
 
-    float near=0.01;
     float far=100.0;
 
     float t=-vertexOut.nearPoint.y/(vertexOut.farPoint.y-vertexOut.nearPoint.y);
 
     float3 fragPosition=vertexOut.nearPoint+t*(vertexOut.farPoint-vertexOut.nearPoint);
 
-    finalColor.depth=clamp(computeDepth(fragPosition, uniformSpace.viewMatrix, uniformSpace.projectionMatrix),0.0,0.9);
+    // modelViewMatrix holds the forward P*V matrix for correct depth in any Z convention.
+    finalColor.depth=clamp(computeDepth(fragPosition, uniformSpace.modelViewMatrix),0.0,1.0);
 
-    float linearDepth=computeLinearDepth(fragPosition, near, far, uniformSpace.viewMatrix, uniformSpace.projectionMatrix);
+    float linearDepth=computeLinearDepth(fragPosition, far, uniformSpace.viewMatrix);
 
     float fading=max(0.0, (0.5-linearDepth));
 
diff --git a/Sources/UntoldEngine/Shaders/ShadersUtils.metal b/Sources/UntoldEngine/Shaders/ShadersUtils.metal
index 23c3199f..b850d2bc 100644
--- a/Sources/UntoldEngine/Shaders/ShadersUtils.metal
+++ b/Sources/UntoldEngine/Shaders/ShadersUtils.metal
@@ -532,17 +532,19 @@ float computeLuma(float3 color) {
     return 0.2126 * color.r + 0.7152 * color.g + 0.0722 * color.b;
 }
 
-float linearizeDepthForViewing(float depth, float near, float far){
-   
+float linearizeDepthForViewing(float depth, float near, float far, bool reverseZ){
+
     // Custom values for the scene
     float sceneNear = 0.1;
     float sceneFar = 50.0;
-    
-    float linear = near * far / (far + depth * (near - far)); // standard Z
 
-    // Normalize to 0–1 for visualization 
+    float linear = reverseZ
+        ? near * far / (near + depth * (far - near))
+        : near * far / (far + depth * (near - far));
+
+    // Normalize to 0–1 for visualization
     return saturate((linear - sceneNear) / (sceneFar - sceneNear));
-    
+
 }
 
 float linearizeDepth(float depth, float near, float far){
diff --git a/Sources/UntoldEngine/Shaders/debugShader.metal b/Sources/UntoldEngine/Shaders/debugShader.metal
index 8d7e3a11..305ae2f5 100644
--- a/Sources/UntoldEngine/Shaders/debugShader.metal
+++ b/Sources/UntoldEngine/Shaders/debugShader.metal
@@ -26,7 +26,8 @@ fragment float4 fragmentDebugShader(VertexDebugOutput vertexOut [[stage_in]],
                                     texture2d<float> finalTexture[[texture(0)]],
                                     depth2d<float> depthTexture [[texture(1)]],
                                     constant int &debugMode [[buffer(debugPassModeIndex)]],
-                                    constant simd_float2 &frustumPlanes [[buffer(debugPassFrustumPlanesIndex)]]) {
+                                    constant simd_float2 &frustumPlanes [[buffer(debugPassFrustumPlanesIndex)]],
+                                    constant bool &reverseZ [[buffer(debugPassReverseZIndex)]]) {
 
     constexpr sampler s(min_filter::linear,mag_filter::linear);
 
@@ -39,7 +40,7 @@ fragment float4 fragmentDebugShader(VertexDebugOutput vertexOut [[stage_in]],
         float near = frustumPlanes.x;
         float far = frustumPlanes.y;
         float rawDepth = depthTexture.sample(s, vertexOut.uvCoords);
-        float normalized = linearizeDepthForViewing(rawDepth, near, far);
+        float normalized = linearizeDepthForViewing(rawDepth, near, far, reverseZ);
         return float4(normalized, normalized, normalized, 1.0);
     }
 
diff --git a/Sources/UntoldEngine/Systems/RenderingSystem.swift b/Sources/UntoldEngine/Systems/RenderingSystem.swift
index 0cec39f0..bae9c850 100644
--- a/Sources/UntoldEngine/Systems/RenderingSystem.swift
+++ b/Sources/UntoldEngine/Systems/RenderingSystem.swift
@@ -932,6 +932,13 @@ public let lookRenderPass: RenderPasses.RenderPassExecution = { commandBuffer in
                 index: Int(debugPassFrustumPlanesIndex.rawValue)
             )
 
+            var reverseZ = renderInfo.reverseZEnabled
+            encoder.setFragmentBytes(
+                &reverseZ,
+                length: MemoryLayout<Bool>.stride,
+                index: Int(debugPassReverseZIndex.rawValue)
+            )
+
             encoder.setFragmentTexture(debugDepth, index: 1)
         }
     )(commandBuffer)
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-ios.air b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-ios.air
index 0b1bdcee..ec5b91c1 100644
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diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-ios.metallib b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-ios.metallib
index 09022fd9..c002a453 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-ios.metallib and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-ios.metallib differ
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvos.air b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvos.air
index d7aa3513..2afa82cb 100644
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diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvos.metallib b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvos.metallib
index a0f55022..5b78201e 100644
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diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvossim.air b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvossim.air
index d5fe7ca0..12d15d01 100644
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diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvossim.metallib b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvossim.metallib
index 4d3a8b62..bfb72575 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvossim.metallib and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-tvossim.metallib differ
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.air b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.air
index 43df5222..a156a634 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.air and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.air differ
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.metallib b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.metallib
index c703845a..b806f984 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.metallib and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xros.metallib differ
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.air b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.air
index 4a2d7c21..ea64bc8a 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.air and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.air differ
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.metallib b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.metallib
index 6084df93..9568f0fd 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.metallib and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels-xrossim.metallib differ
diff --git a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels.metallib b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels.metallib
index aad6b539..085da0b3 100644
Binary files a/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels.metallib and b/Sources/UntoldEngine/UntoldEngineKernels/UntoldEngineKernels.metallib differ
diff --git a/Sources/UntoldEngine/Utils/Globals.swift b/Sources/UntoldEngine/Utils/Globals.swift
index bdb08f83..56f1e0ea 100644
--- a/Sources/UntoldEngine/Utils/Globals.swift
+++ b/Sources/UntoldEngine/Utils/Globals.swift
@@ -248,7 +248,7 @@ var timePassedSinceLastFrame: Float {
 
 // Frustum info
 public let far: Float = 500
-public let near: Float = 0.01
+public let near: Float = 0.1
 public let fov: Float = 65.0
 
 // Shadow max parameters (legacy single-cascade — kept for reference)
diff --git a/Sources/UntoldEngine/Utils/MathUtils.swift b/Sources/UntoldEngine/Utils/MathUtils.swift
index c997bf62..b896113f 100644
--- a/Sources/UntoldEngine/Utils/MathUtils.swift
+++ b/Sources/UntoldEngine/Utils/MathUtils.swift
@@ -274,6 +274,23 @@ public func matrixPerspectiveRightHand(
     )
 }
 
+/// Reverse-Z variant: maps near→1, far→0, giving float32 precision to distant geometry.
+public func matrixPerspectiveRightHandReverseZ(
+    fovyRadians fovy: Float, aspectRatio: Float, nearZ: Float, farZ: Float
+) -> matrix_float4x4 {
+    let ys = 1 / tanf(fovy * 0.5)
+    let xs = ys / aspectRatio
+    let zs = nearZ / (farZ - nearZ)
+    return matrix_float4x4.init(
+        columns: (
+            vector_float4(xs, 0, 0, 0),
+            vector_float4(0, ys, 0, 0),
+            vector_float4(0, 0, zs, -1),
+            vector_float4(0, 0, zs * farZ, 0)
+        )
+    )
+}
+
 public func matrix_look_at_right_hand(_ eye: simd_float3, _ target: simd_float3, _ up: simd_float3)
     -> simd_float4x4
 {
diff --git a/Tests/UntoldEngineRenderTests/BaseRenderSetup.swift b/Tests/UntoldEngineRenderTests/BaseRenderSetup.swift
index 9ce0b23b..1e493be7 100644
--- a/Tests/UntoldEngineRenderTests/BaseRenderSetup.swift
+++ b/Tests/UntoldEngineRenderTests/BaseRenderSetup.swift
@@ -114,10 +114,9 @@ class BaseRenderSetup: XCTestCase {
         renderer.mtkView(renderer.metalView, drawableSizeWillChange: size)
         renderer.pendingResize = true
         let aspect = Float(windowWidth) / Float(windowHeight)
-        renderInfo.perspectiveSpace = matrixPerspectiveRightHand(
-            fovyRadians: degreesToRadians(degrees: fov),
-            aspectRatio: aspect, nearZ: near, farZ: far
-        )
+        renderInfo.perspectiveSpace = renderInfo.reverseZEnabled
+            ? matrixPerspectiveRightHandReverseZ(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
+            : matrixPerspectiveRightHand(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
 
         renderInfo.viewPort = simd_float2(Float(windowWidth), Float(windowHeight))
 
diff --git a/Tests/UntoldEngineRenderTests/CullingTest.swift b/Tests/UntoldEngineRenderTests/CullingTest.swift
index e049e7de..7bb85ee8 100644
--- a/Tests/UntoldEngineRenderTests/CullingTest.swift
+++ b/Tests/UntoldEngineRenderTests/CullingTest.swift
@@ -122,14 +122,11 @@ final class CullingTest: BaseRenderSetup {
         let windowWidth = 1280
         let windowHeight = 720
 
-        // Initialize projection
+        // Initialize projection matching the renderer's active Z convention.
         let aspect = Float(windowWidth) / Float(windowHeight)
-        let projectionMatrix = matrixPerspectiveRightHand(
-            fovyRadians: degreesToRadians(degrees: fov),
-            aspectRatio: aspect,
-            nearZ: near,
-            farZ: far
-        )
+        let projectionMatrix = renderInfo.reverseZEnabled
+            ? matrixPerspectiveRightHandReverseZ(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
+            : matrixPerspectiveRightHand(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
 
         renderInfo.perspectiveSpace = projectionMatrix
 
@@ -140,10 +137,13 @@ final class CullingTest: BaseRenderSetup {
 
         let viewProjection: simd_float4x4 = simd_mul(renderInfo.perspectiveSpace, cameraComponent.viewSpace)
 
-        let F = buildFrustum(from: viewProjection, ndcNear: 0, ndcFar: 1)
+        let ndcNear: Float = renderInfo.reverseZEnabled ? 1.0 : 0.0
+        let ndcFar: Float = renderInfo.reverseZEnabled ? 0.0 : 1.0
+
+        let F = buildFrustum(from: viewProjection, ndcNear: ndcNear, ndcFar: ndcFar)
 
         // Frustum center should evaluate >= 0 for all planes
-        let corners = unprojectCorners(viewProj: viewProjection)
+        let corners = unprojectCorners(viewProj: viewProjection, ndcNear: ndcNear, ndcFar: ndcFar)
         let center = corners.reduce(SIMD3<Float>(repeating: 0), +) / 8
         for p in F.planes {
             XCTAssertGreaterThanOrEqual(pointPlaneDistance(p, center), -1e-5, "Frustum center should be inside (plane inward)")
@@ -342,7 +342,10 @@ final class CullingTest: BaseRenderSetup {
             renderInfo.viewPort = originalViewport
         }
 
-        textureResources.hzbDepthPyramid = makeHZBTestTexture(depthValue: 1.0)
+        // "Clear" HZB — nothing occluding, camera sees to the far plane.
+        // Standard-Z: far = 1.0. Reverse-Z: far = 0.0.
+        let clearDepth: Float = renderInfo.reverseZEnabled ? 0.0 : 1.0
+        textureResources.hzbDepthPyramid = makeHZBTestTexture(depthValue: clearDepth)
         renderInfo.hzbMipCount = 1
         renderInfo.hzbIsValid = true
         renderInfo.viewPort = simd_float2(1920, 1080)
@@ -389,7 +392,10 @@ final class CullingTest: BaseRenderSetup {
             renderInfo.viewPort = originalViewport
         }
 
-        textureResources.hzbDepthPyramid = makeHZBTestTexture(depthValue: 0.2)
+        // "Solid" HZB — an occluder close to the camera sits in front of the candidate (z=0.8±0.1).
+        // Standard-Z: close = small value (0.2). Reverse-Z: close = large value (0.95).
+        let occluderDepth: Float = renderInfo.reverseZEnabled ? 0.95 : 0.2
+        textureResources.hzbDepthPyramid = makeHZBTestTexture(depthValue: occluderDepth)
         renderInfo.hzbMipCount = 1
         renderInfo.hzbIsValid = true
         renderInfo.viewPort = simd_float2(1920, 1080)
diff --git a/Tests/UntoldEngineRenderTests/RendererTest.swift b/Tests/UntoldEngineRenderTests/RendererTest.swift
index cede0092..3306f29d 100644
--- a/Tests/UntoldEngineRenderTests/RendererTest.swift
+++ b/Tests/UntoldEngineRenderTests/RendererTest.swift
@@ -36,13 +36,10 @@ final class RendererTests: BaseRenderSetup {
         // Aspect ratio
         let aspect = Float(windowWidth) / Float(windowHeight)
 
-        // Compute the expected projection matrix
-        let expectedProjectionMatrix = matrixPerspectiveRightHand(
-            fovyRadians: degreesToRadians(degrees: fov),
-            aspectRatio: aspect,
-            nearZ: near,
-            farZ: far
-        )
+        // Compute the expected projection matrix, matching the renderer's active Z convention.
+        let expectedProjectionMatrix = renderInfo.reverseZEnabled
+            ? matrixPerspectiveRightHandReverseZ(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
+            : matrixPerspectiveRightHand(fovyRadians: degreesToRadians(degrees: fov), aspectRatio: aspect, nearZ: near, farZ: far)
 
         // Compare with the initialized projection matrix in the renderer
         let actualProjectionMatrix = renderInfo.perspectiveSpace
diff --git a/Tests/UntoldEngineRenderTests/Resources/ReferenceImages/BloomReference.png b/Tests/UntoldEngineRenderTests/Resources/ReferenceImages/BloomReference.png
index 97927da1..a2af98bf 100644
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diff --git a/Tests/UntoldEngineRenderTests/Resources/ReferenceImages/ChromaticAberrationReference.png b/Tests/UntoldEngineRenderTests/Resources/ReferenceImages/ChromaticAberrationReference.png
index 24c00189..744e5743 100644
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diff --git a/Tests/UntoldEngineRenderTests/Resources/ReferenceImages/ColorGradingReference.png b/Tests/UntoldEngineRenderTests/Resources/ReferenceImages/ColorGradingReference.png
index 398c4086..479abaa8 100644
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diff --git a/docs/API/UsingSpatialInput.md b/docs/API/UsingSpatialInput.md
index dbcc04d6..7f7a41b0 100644
--- a/docs/API/UsingSpatialInput.md
+++ b/docs/API/UsingSpatialInput.md
@@ -523,12 +523,19 @@ if state.spatialTapActive, let entityId = state.pickedEntityId {
 
 ## Get Ground/Plane Hit Position
 
-To retrieve the exact world-space position where the user taps on the ground, use `pickRealSurfacePosition`. This is useful for calibration workflows where you need to anchor a point on the ground and scale a model relative to it.
+To retrieve the exact world-space position where the user taps on a real-world surface, use `pickRealSurfacePosition`. This raycasts against ARKit-detected physical planes in the user's environment. This is useful for calibration workflows where you need to anchor a point on the ground and scale a model relative to it.
+
+The `filter` parameter controls which plane alignments are considered:
+
+- `.horizontalAny` — horizontal planes only (floor, ceiling, table, seat)
+- `.verticalAny` — vertical planes only (wall, door, window)
+- `.any` — all detected planes regardless of alignment
 
 ```swift
 let state = InputSystem.shared.xrSpatialInputState
 
 if state.spatialTapActive{
+    // Hit a horizontal surface (e.g. floor or table)
     if let hit = pickRealSurfacePosition(
           rayOrigin: state.rayOriginWorld,
           rayDirection: state.rayDirectionWorld,
@@ -536,6 +543,24 @@ if state.spatialTapActive{
       ) {
           Logger.log(message: "Surface type: \(hit.surfaceKind)", vector: hit.worldPosition)
       }
+
+    // Hit a vertical surface (e.g. wall or door)
+    if let hit = pickRealSurfacePosition(
+          rayOrigin: state.rayOriginWorld,
+          rayDirection: state.rayDirectionWorld,
+          filter: .verticalAny
+      ) {
+          Logger.log(message: "Surface type: \(hit.surfaceKind)", vector: hit.worldPosition)
+      }
+
+    // Hit any detected surface
+    if let hit = pickRealSurfacePosition(
+          rayOrigin: state.rayOriginWorld,
+          rayDirection: state.rayDirectionWorld,
+          filter: .any
+      ) {
+          Logger.log(message: "Surface type: \(hit.surfaceKind)", vector: hit.worldPosition)
+      }
 }
 ```