依赖于CoordinatorLayout和BottomSheetBehavior，需要将底部菜单布局作为CoordinatorLayout的子View，实现简单但不够灵活，适用于底部菜单布局稳定的情况。
布局文件

<!--父布局必须是 CoordinatorLayout-->
<android.support.design.widget.CoordinatorLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    android:layout_width="match_parent"
    android:layout_height="match_parent">

    <!--页面的主布局-->
    <include layout="@layout/content_main"/>

    <!--当作bottomSheet的布局-->
    <include layout="@layout/content_bottom_sheet" />

</android.support.design.widget.CoordinatorLayout>

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:orientation="vertical"
    android:layout_width="match_parent"
    android:layout_height="match_parent">

    <android.support.v7.widget.AppCompatButton
        android:id="@+id/btn_expand"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:text="Expand_BottomSheet"/>

    <android.support.v7.widget.AppCompatButton
        android:id="@+id/btn_collapsed"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:text="Collapsed_BottomSheet"/>

    <android.support.v7.widget.AppCompatButton
        android:id="@+id/btn_hide"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:text="Hide_BottomSheet"/>

    <android.support.v7.widget.AppCompatButton
        android:id="@+id/btn_bottomsheet_dialog"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:text="BottomSheetDialog"/>

    <android.support.v7.widget.AppCompatButton
        android:id="@+id/btn_bottomsheet_dialog_fragment"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:text="BottomSheetDialogFragment"/>
</LinearLayout>

content_bottom_sheet.xml

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:id="@+id/ll_content_bottom_sheet"
    android:orientation="vertical"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    app:behavior_hideable="true"
    app:behavior_peekHeight="50dp"//控制bottomSheet 初始显示的高度
    app:layout_behavior="@string/bottom_sheet_behavior"
    android:background="@color/colorPrimary">

    <TextView
        android:layout_width="match_parent"
        android:layout_height="80dp"
        android:text="人生若只如初见，何事秋风悲画扇。"
        android:textSize="20sp"
        android:gravity="center"/>

    <TextView
        android:layout_width="match_parent"
        android:layout_height="80dp"
        android:text="等闲变却故人心，却道故人心易变。"
        android:textSize="20sp"
        android:gravity="center"/>
    <TextView
        android:layout_width="match_parent"
        android:layout_height="80dp"
        android:text="骊山语罢清宵半，泪雨霖铃终不怨。"
        android:textSize="20sp"
        android:gravity="center"/>
    <TextView
        android:layout_width="match_parent"
        android:layout_height="80dp"
        android:text="何如薄幸锦衣郎，比翼连枝当日愿。"
        android:textSize="20sp"
        android:gravity="center"/>

</LinearLayout>

activity中使用

public class BottomSheetActivity extends AppCompatActivity implements View.OnClickListener {

    private AppCompatButton btnExpand;
    private AppCompatButton btnCollapsed;
    private AppCompatButton btnHide;
    private AppCompatButton btnBottomsheetDialog;
    private AppCompatButton btnBottomsheetDialogFragment;
    private LinearLayout llContentBottomSheet;

    private BottomSheetBehavior bottomSheetBehavior;
    private BottomSheetDialog dialog;
    @Override
    protected void onCreate(@Nullable Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_bottom_sheet);
        initViews();
    }

    private void initViews() {
        btnExpand = (AppCompatButton) findViewById(R.id.btn_expand);
        btnCollapsed = (AppCompatButton) findViewById(R.id.btn_collapsed);
        btnHide = (AppCompatButton) findViewById(R.id.btn_hide);
        btnBottomsheetDialog = (AppCompatButton) findViewById(R.id.btn_bottomsheet_dialog);
        btnBottomsheetDialogFragment = (AppCompatButton) findViewById(R.id.btn_bottomsheet_dialog_fragment);
        llContentBottomSheet = (LinearLayout) findViewById(R.id.ll_content_bottom_sheet);
        btnExpand.setOnClickListener(this);
        btnCollapsed.setOnClickListener(this);
        btnHide.setOnClickListener(this);
        btnBottomsheetDialogFragment.setOnClickListener(this);
        btnBottomsheetDialog.setOnClickListener(this);
        /*获取behavior 控制bottomsheet的 显示 与隐藏*/
        bottomSheetBehavior = BottomSheetBehavior.from(llContentBottomSheet);
        /*bottomSheet 的 状态改变 根据不同的状态 做不同的事情*/
        bottomSheetBehavior.setBottomSheetCallback(new BottomSheetBehavior.BottomSheetCallback() {
            @Override
            public void onStateChanged(@NonNull View bottomSheet, int newState) {

                switch (newState) {
                    case BottomSheetBehavior.STATE_COLLAPSED:
                        Log.e("ccccccccc", "STATE_COLLAPSED");
                        break;
                    case BottomSheetBehavior.STATE_DRAGGING:
                        Log.e("ccccccccc", "STATE_DRAGGING");
                        break;
                    case BottomSheetBehavior.STATE_EXPANDED:
                        Log.e("ccccccccc", "STATE_EXPANDED");
                        break;
                    case BottomSheetBehavior.STATE_HIDDEN:
                        Log.e("ccccccccc", "STATE_HIDDEN");
                        break;
                    case BottomSheetBehavior.STATE_SETTLING:
                        Log.e("ccccccccc", "STATE_SETTLING");
                        break;
                }
            }

            @Override
            public void onSlide(@NonNull View bottomSheet, float slideOffset) {
                 /*slideOffset bottomSheet 的 移动距离*/
            }
        });
    }

    @Override
    public void onClick(View v) {
        switch (v.getId()){
            case R.id.btn_expand://展开
                bottomSheetBehavior.setState(BottomSheetBehavior.STATE_EXPANDED);
                break;
            case R.id.btn_collapsed://折叠 是显示刚开始预设的高度 也就是app:behavior_peekHeight这个实行的值
                bottomSheetBehavior.setState(BottomSheetBehavior.STATE_COLLAPSED);
                break;
            case R.id.btn_hide://隐藏 就是完全隐藏
                bottomSheetBehavior.setState(BottomSheetBehavior.STATE_HIDDEN);
                break;
        }
    }
}