This has been my technique for a long time. I was terrorized by SP and Hypnagogia when I was younger but have now become very good at SP to WILD. Now when I have an unwanted or unplanned SP (what happened to you) I simply enjoy it and take it lucid. The only problems I have are: Duration; my WILD's only last at max about 15 min but I can easily enter back into one several times. The environment; although I can alter my environment in small ways, either through preset goals or in dream manipulation, it is always my house not 'wonderland'. Also I can never get enough light. The best I can summon is dawn or dusk...but I'm working on that. :D
float/fly [x]
walk through walls/doors[x]
summon people[ ]
transform universe[ ]