I've always wondered about this phase, but so far I haven't read any information on it online. Might be quite hard to explain it, but bear with me.

Has anyone had an experience in where they could still feel their real body after falling asleep, AND lucid dreaming?

It's happened to me in several occasions, but I'm quite skeptical about it, since I've read no accounts of it before. Once, it happened while I fell asleep during Science class, felt the vibrations, but no full on SP, but I did see a blurry, but fully formed dream, and I was able to control it easier than any dream had ever been. Lasted only for a few seconds, since the teacher was discussing something. But the thing was, I was still aware of my body in the real world, my head on the desk, my eyelids constantly shifting.

Last week, as a part of the IODSP project, I had a similar experience, this one lasting longer, and SP kicking in the middle of the dream...

I was in this place with no solid form whatsoever, just colorful mist, clouds, and light. The place was pretty nostalgic, I remembered myself thinking, still feeling my real world body. It was like I was in between dreaming and reality (?). There were two other characters in that dream plane, yet I was hoping for them to be other dreamers. They were fighting, chasing each other actually, and I just seemed to join in. The one we were chasing was named "Shadow" but the other dude I was with, I had no idea what his name was. We seemed to have another form that was not human, maybe like cars. The dude named Shadow was a car with a face (Pixar). He was just spinning around, laughing, and having fun. The other dude I was with seemed to be quite annoyed, either of me, or the other dude. I stop him, ask him to change to his true form as I did too. He turns into this tall, built, man. He wore a tank top and jeans, and he had a mustache, he also had brown/dirty blonde hair. I materialize myself, seeing that I had a long sleeve shirt with green and white stripes. I see Shadow drive around again, laughing as he talked. That was about the time I felt SP kick in, but I think I forced it to. The hypnagogic hallucinations I was seeing was the clearest I have ever seen it. It was like looking through a kaleidoscope of random images, only clearer, and more vivid. I remember seeing an eye, then an owl.
Any thoughts on this?