diff --git a/selfdrive/ui/android/ui.cc b/selfdrive/ui/android/ui.cc
index 06d11a94ec..6f870933b3 100644
--- a/selfdrive/ui/android/ui.cc
+++ b/selfdrive/ui/android/ui.cc
@@ -116,7 +116,7 @@ static void set_awake(UIState *s, bool awake) {
 }
 
 static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
-  if (s->started && (touch_x >= s->scene.ui_viz_rx - bdr_s)
+  if (s->started && (touch_x >= s->scene.viz_rect.x - bdr_s)
       && (s->active_app != cereal::UiLayoutState::App::SETTINGS)) {
     if (!s->scene.frontview) {
       s->scene.uilayout_sidebarcollapsed = !s->scene.uilayout_sidebarcollapsed;
@@ -128,11 +128,9 @@ static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
 
 static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
   if (!s->scene.uilayout_sidebarcollapsed && touch_x <= sbr_w) {
-    if (touch_x >= settings_btn_x && touch_x < (settings_btn_x + settings_btn_w)
-        && touch_y >= settings_btn_y && touch_y < (settings_btn_y + settings_btn_h)) {
+    if (settings_btn.ptInRect(touch_x, touch_y)) {
       s->active_app = cereal::UiLayoutState::App::SETTINGS;
-    } else if (touch_x >= home_btn_x && touch_x < (home_btn_x + home_btn_w)
-               && touch_y >= home_btn_y && touch_y < (home_btn_y + home_btn_h)) {
+    } else if (home_btn.ptInRect(touch_x, touch_y)) {
       if (s->started) {
         s->active_app = cereal::UiLayoutState::App::NONE;
         s->scene.uilayout_sidebarcollapsed = true;
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index e1c8719434..7f41b14989 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -225,11 +225,11 @@ static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
   if (is_mpc) {
     // Draw colored MPC track
     const Color clr = bg_colors[s->status];
-    track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
+    track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
       nvgRGBA(clr.r, clr.g, clr.b, 255), nvgRGBA(clr.r, clr.g, clr.b, 255/2));
   } else {
     // Draw white vision track
-    track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
+    track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
       COLOR_WHITE, COLOR_WHITE_ALPHA(0));
   }
   nvgFillPaint(s->vg, track_bg);
@@ -338,23 +338,17 @@ static void ui_draw_vision_lanes(UIState *s) {
 // Draw all world space objects.
 static void ui_draw_world(UIState *s) {
   const UIScene *scene = &s->scene;
-  if (!scene->world_objects_visible) {
-    return;
-  }
-
-  const int inner_height = float(viz_w) * vwp_h / vwp_w;
-  const int ui_viz_rx = scene->ui_viz_rx;
-  const int ui_viz_rw = scene->ui_viz_rw;
-  const int ui_viz_ro = scene->ui_viz_ro;
-
+  const Rect &viz_rect = scene->viz_rect;
+  const int viz_w = s->fb_w - bdr_s * 2;
+  const int inner_height = float(viz_w) * s->fb_h / s->fb_w;
   nvgSave(s->vg);
-  nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
+  nvgScissor(s->vg, viz_rect.x, viz_rect.y, viz_rect.w, viz_rect.h);
 
-  nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
+  nvgTranslate(s->vg, viz_rect.x+scene->ui_viz_ro, viz_rect.y + (viz_rect.h-inner_height)/2.0);
   nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
 
   float w = 1440.0f; // Why 1440?
-  nvgTranslate(s->vg, (vwp_w - w) / 2.0f, 0.0);
+  nvgTranslate(s->vg, (s->fb_w - w) / 2.0f, 0.0);
 
   nvgTranslate(s->vg, -w / 2, -1080.0f / 2);
   nvgScale(s->vg, 2.0, 2.0);
@@ -387,8 +381,8 @@ static void ui_draw_vision_maxspeed(UIState *s) {
 
   int viz_maxspeed_w = 184;
   int viz_maxspeed_h = 202;
-  int viz_maxspeed_x = (s->scene.ui_viz_rx + (bdr_s*2));
-  int viz_maxspeed_y = (box_y + (bdr_s*1.5));
+  int viz_maxspeed_x = s->scene.viz_rect.x + (bdr_s*2);
+  int viz_maxspeed_y = s->scene.viz_rect.y + (bdr_s*1.5);
   int viz_maxspeed_xo = 180;
 
   viz_maxspeed_xo = 0;
@@ -413,29 +407,29 @@ static void ui_draw_vision_maxspeed(UIState *s) {
 }
 
 static void ui_draw_vision_speed(UIState *s) {
-  const UIScene *scene = &s->scene;
+  const Rect &viz_rect = s->scene.viz_rect;
   float v_ego = s->scene.controls_state.getVEgo();
   float speed = v_ego * 2.2369363 + 0.5;
   if (s->is_metric){
     speed = v_ego * 3.6 + 0.5;
   }
   const int viz_speed_w = 280;
-  const int viz_speed_x = scene->ui_viz_rx+((scene->ui_viz_rw/2)-(viz_speed_w/2));
+  const int viz_speed_x = viz_rect.centerX() - viz_speed_w/2;
   char speed_str[32];
 
   nvgBeginPath(s->vg);
-  nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
+  nvgRect(s->vg, viz_speed_x, viz_rect.y, viz_speed_w, header_h);
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
 
   snprintf(speed_str, sizeof(speed_str), "%d", (int)speed);
-  ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 240, speed_str, 96*2.5, COLOR_WHITE, s->font_sans_bold);
-  ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 320, s->is_metric?"km/h":"mph", 36*2.5, COLOR_WHITE_ALPHA(200), s->font_sans_regular);
+  ui_draw_text(s->vg, viz_rect.centerX(), 240, speed_str, 96*2.5, COLOR_WHITE, s->font_sans_bold);
+  ui_draw_text(s->vg, viz_rect.centerX(), 320, s->is_metric?"km/h":"mph", 36*2.5, COLOR_WHITE_ALPHA(200), s->font_sans_regular);
 }
 
 static void ui_draw_vision_event(UIState *s) {
   const int viz_event_w = 220;
-  const int viz_event_x = ((s->scene.ui_viz_rx + s->scene.ui_viz_rw) - (viz_event_w + (bdr_s*2)));
-  const int viz_event_y = (box_y + (bdr_s*1.5));
+  const int viz_event_x = s->scene.viz_rect.right() - (viz_event_w + bdr_s*2);
+  const int viz_event_y = s->scene.viz_rect.y + (bdr_s*1.5);
   if (s->scene.controls_state.getDecelForModel() && s->scene.controls_state.getEnabled()) {
     // draw winding road sign
     const int img_turn_size = 160*1.5;
@@ -462,17 +456,21 @@ static void ui_draw_vision_event(UIState *s) {
 
 static void ui_draw_vision_face(UIState *s) {
   const int face_size = 96;
-  const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2));
-  const int face_y = (footer_y + ((footer_h - face_size) / 2));
+  const int face_x = (s->scene.viz_rect.x + face_size + (bdr_s * 2));
+  const int face_y = (s->scene.viz_rect.bottom() - footer_h + ((footer_h - face_size) / 2));
   ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.dmonitoring_state.getFaceDetected());
 }
 
 static void ui_draw_driver_view(UIState *s) {
   const UIScene *scene = &s->scene;
   s->scene.uilayout_sidebarcollapsed = true;
-  const int frame_x = scene->ui_viz_rx;
-  const int frame_w = scene->ui_viz_rw;
-  const int valid_frame_w = 4 * box_h / 3;
+  const Rect &viz_rect = s->scene.viz_rect;
+  const int ff_xoffset = 32;
+  const int frame_x = viz_rect.x;
+  const int frame_w = viz_rect.w;
+  const int valid_frame_w = 4 * viz_rect.h / 3;
+  const int box_y = viz_rect.y;
+  const int box_h  = viz_rect.h;
   const int valid_frame_x = frame_x + (frame_w - valid_frame_w) / 2 + ff_xoffset;
 
   // blackout
@@ -517,16 +515,13 @@ static void ui_draw_driver_view(UIState *s) {
 }
 
 static void ui_draw_vision_header(UIState *s) {
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-
-  NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
-                        (box_y+(header_h-(header_h/2.5))),
-                        ui_viz_rx, box_y+header_h,
+  const Rect &viz_rect = s->scene.viz_rect;
+  NVGpaint gradient = nvgLinearGradient(s->vg, viz_rect.x,
+                        viz_rect.y+(header_h-(header_h/2.5)),
+                        viz_rect.x, viz_rect.y+header_h,
                         nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
 
-  ui_draw_rect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h, gradient);
+  ui_draw_rect(s->vg, viz_rect.x, viz_rect.y, viz_rect.w, header_h, gradient);
 
   ui_draw_vision_maxspeed(s);
   ui_draw_vision_speed(s);
@@ -543,7 +538,7 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
       {cereal::ControlsState::AlertSize::NONE, 0},
       {cereal::ControlsState::AlertSize::SMALL, 241},
       {cereal::ControlsState::AlertSize::MID, 390},
-      {cereal::ControlsState::AlertSize::FULL, vwp_h}};
+      {cereal::ControlsState::AlertSize::FULL, s->fb_h}};
 
   const UIScene *scene = &s->scene;
   bool longAlert1 = strlen(va_text1) > 15;
@@ -551,10 +546,10 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
   const uint8_t *color = alert_colors[va_color];
   int alr_s = alert_size_map[va_size];
 
-  const int alr_x = scene->ui_viz_rx - bdr_s;
-  const int alr_w = scene->ui_viz_rw + (bdr_s*2);
+  const int alr_x = scene->viz_rect.x - bdr_s;
+  const int alr_w = scene->viz_rect.w + (bdr_s*2);
   const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s);
-  const int alr_y = vwp_h-alr_h;
+  const int alr_y = s->fb_h-alr_h;
 
   ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, nvgRGBA(color[0],color[1],color[2],(color[3]*s->alert_blinking_alpha)));
 
@@ -584,21 +579,20 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
 
 static void ui_draw_vision(UIState *s) {
   const UIScene *scene = &s->scene;
-
+  const Rect &viz_rect = scene->viz_rect;
   // Draw video frames
   glEnable(GL_SCISSOR_TEST);
-  glViewport(scene->ui_viz_rx+scene->ui_viz_ro, s->fb_h-(box_y+box_h), viz_w, box_h);
-  glScissor(scene->ui_viz_rx, s->fb_h-(box_y+box_h), scene->ui_viz_rw, box_h);
+  glViewport(viz_rect.x+scene->ui_viz_ro, viz_rect.y, s->fb_w - bdr_s*2, viz_rect.h);
+  glScissor(viz_rect.x, viz_rect.y, viz_rect.w, viz_rect.h);
   draw_frame(s);
   glDisable(GL_SCISSOR_TEST);
 
   glViewport(0, 0, s->fb_w, s->fb_h);
 
   // Draw augmented elements
-  if (!scene->frontview) {
+  if (!scene->frontview && scene->world_objects_visible) {
     ui_draw_world(s);
   }
-
   // Set Speed, Current Speed, Status/Events
   if (!scene->frontview) {
     ui_draw_vision_header(s);
@@ -621,10 +615,13 @@ static void ui_draw_background(UIState *s) {
 }
 
 void ui_draw(UIState *s) {
-  const bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
-  s->scene.ui_viz_rx = hasSidebar ? box_x : (box_x - sbr_w + (bdr_s * 2));
-  s->scene.ui_viz_rw = hasSidebar ? box_w : (box_w + sbr_w - (bdr_s * 2));
-  s->scene.ui_viz_ro = hasSidebar ? - (sbr_w - 6 * bdr_s) : 0;
+  s->scene.viz_rect = Rect{bdr_s * 3, bdr_s, s->fb_w - 4 * bdr_s, s->fb_h - 2 * bdr_s};
+  s->scene.ui_viz_ro = 0;
+  if (!s->scene.uilayout_sidebarcollapsed) {
+    s->scene.viz_rect.x = sbr_w + bdr_s;
+    s->scene.viz_rect.w = s->fb_w - s->scene.viz_rect.x - bdr_s;
+    s->scene.ui_viz_ro = -(sbr_w - 6 * bdr_s);
+  }
 
   ui_draw_background(s);
   glEnable(GL_BLEND);
@@ -704,14 +701,6 @@ static const mat4 device_transform = {{
   0.0,  0.0, 0.0, 1.0,
 }};
 
-// frame from 4/3 to box size with a 2x zoom
-static const mat4 frame_transform = {{
-  2*(4./3.)/((float)viz_w/box_h), 0.0, 0.0, 0.0,
-  0.0, 2.0, 0.0, 0.0,
-  0.0, 0.0, 1.0, 0.0,
-  0.0, 0.0, 0.0, 1.0,
-}};
-
 // frame from 4/3 to 16/9 display
 static const mat4 full_to_wide_frame_transform = {{
   .75,  0.0, 0.0, 0.0,
@@ -816,6 +805,14 @@ void ui_nvg_init(UIState *s) {
     glBindVertexArray(0);
   }
 
+  // frame from 4/3 to box size with a 2x zoom
+  const mat4 frame_transform = {{
+    (float)(2*(4./3.)/((float)(s->fb_w-(bdr_s*2))/(s->fb_h-(bdr_s*2)))), 0.0, 0.0, 0.0,
+    0.0, 2.0, 0.0, 0.0,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
+
   s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
   s->rear_frame_mat = matmul(device_transform, frame_transform);
 
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 54f3ef5dfd..c2d8717eab 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -90,15 +90,12 @@ void GLWindow::paintGL() {
 
 void GLWindow::mousePressEvent(QMouseEvent *e) {
   // Settings button click
-  if (!ui_state->scene.uilayout_sidebarcollapsed && e->x() <= sbr_w) {
-    if (e->x() >= settings_btn_x && e->x() < (settings_btn_x + settings_btn_w)
-        && e->y() >= settings_btn_y && e->y() < (settings_btn_y + settings_btn_h)) {
-      emit openSettings();
-    }
+  if (!ui_state->scene.uilayout_sidebarcollapsed && settings_btn.ptInRect(e->x(), e->y())) {
+    emit openSettings();
   }
 
   // Vision click
-  if (ui_state->started && (e->x() >= ui_state->scene.ui_viz_rx - bdr_s)){
+  if (ui_state->started && (e->x() >= ui_state->scene.viz_rect.x - bdr_s)){
     ui_state->scene.uilayout_sidebarcollapsed = !ui_state->scene.uilayout_sidebarcollapsed;
   }
 }
diff --git a/selfdrive/ui/qt/window.hpp b/selfdrive/ui/qt/window.hpp
index c8950bd568..cea6dd4982 100644
--- a/selfdrive/ui/qt/window.hpp
+++ b/selfdrive/ui/qt/window.hpp
@@ -26,7 +26,12 @@ public slots:
 
 };
 
-
+#ifdef QCOM2
+const int vwp_w = 2160;
+#else
+const int vwp_w = 1920;
+#endif
+const int vwp_h = 1080;
 class GLWindow : public QOpenGLWidget, protected QOpenGLFunctions
 {
   Q_OBJECT
diff --git a/selfdrive/ui/sidebar.cc b/selfdrive/ui/sidebar.cc
index 64c728f25d..679d347cba 100644
--- a/selfdrive/ui/sidebar.cc
+++ b/selfdrive/ui/sidebar.cc
@@ -8,17 +8,17 @@
 
 static void ui_draw_sidebar_background(UIState *s) {
   int sbr_x = !s->scene.uilayout_sidebarcollapsed ? 0 : -(sbr_w) + bdr_s * 2;
-  ui_draw_rect(s->vg, sbr_x, 0, sbr_w, vwp_h, COLOR_BLACK_ALPHA(85));
+  ui_draw_rect(s->vg, sbr_x, 0, sbr_w, s->fb_h, COLOR_BLACK_ALPHA(85));
 }
 
 static void ui_draw_sidebar_settings_button(UIState *s) {
   const float alpha = s->active_app == cereal::UiLayoutState::App::SETTINGS ? 1.0f : 0.65f;
-  ui_draw_image(s->vg, settings_btn_x, settings_btn_y, settings_btn_w, settings_btn_h, s->img_button_settings, alpha);
+  ui_draw_image(s->vg, settings_btn.x, settings_btn.y, settings_btn.w, settings_btn.h, s->img_button_settings, alpha);
 }
 
 static void ui_draw_sidebar_home_button(UIState *s) {
   const float alpha = s->active_app == cereal::UiLayoutState::App::HOME ? 1.0f : 0.65f;;
-  ui_draw_image(s->vg, home_btn_x, home_btn_y, home_btn_w, home_btn_h, s->img_button_home, alpha);
+  ui_draw_image(s->vg, home_btn.x, home_btn.y, home_btn.w, home_btn.h, s->img_button_home, alpha);
 }
 
 static void ui_draw_sidebar_network_strength(UIState *s) {
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 6082991539..1255e54b7a 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -37,36 +37,22 @@
 
 #define UI_BUF_COUNT 4
 
-// TODO: Detect dynamically
-#ifdef QCOM2
-const int vwp_w = 2160;
-#else
-const int vwp_w = 1920;
-#endif
+typedef struct Rect {
+  int x, y, w, h;
+  int centerX() const { return x + w / 2; }
+  int right() const { return x + w; }
+  int bottom() const { return y + h; }
+  bool ptInRect(int px, int py) const {
+    return px >= x && px < (x + w) && py >= y && py < (y + h);
+  }
+} Rect;
 
-const int vwp_h = 1080;
-const int nav_w = 640;
-const int nav_ww= 760;
 const int sbr_w = 300;
 const int bdr_s = 30;
-
-const int box_x = sbr_w+bdr_s;
-const int box_y = bdr_s;
-const int box_w = vwp_w-sbr_w-(bdr_s*2);
-const int box_h = vwp_h-(bdr_s*2);
-const int viz_w = vwp_w-(bdr_s*2);
-const int ff_xoffset = 32;
 const int header_h = 420;
 const int footer_h = 280;
-const int footer_y = vwp_h-bdr_s-footer_h;
-const int settings_btn_h = 117;
-const int settings_btn_w = 200;
-const int settings_btn_x = 50;
-const int settings_btn_y = 35;
-const int home_btn_h = 180;
-const int home_btn_w = 180;
-const int home_btn_x = 60;
-const int home_btn_y = vwp_h - home_btn_h - 40;
+const Rect settings_btn = {50, 35, 200, 117};
+const Rect home_btn = {60, 1080 - 180 - 40, 180, 180};
 
 const int UI_FREQ = 20;   // Hz
 
@@ -114,7 +100,8 @@ typedef struct UIScene {
   bool frontview;
   bool uilayout_sidebarcollapsed;
   // responsive layout
-  int ui_viz_rx, ui_viz_rw, ui_viz_ro;
+  Rect viz_rect;
+  int ui_viz_ro;
 
   std::string alert_text1;
   std::string alert_text2;