Haha, i don't think it was a dream, when you fell out of the bed. I mean it was, just not FA. You were in a lucid dream, you only didn't realize it, IMO. That's how I started many of my WILDs. After the sensations are over (which btw are not SP), I either get up from sofa, or I roll our of my body. It seems that you perhaps wanted to turn over, and you kept rolling. You were still aware, I suspect. But it surprised you, lol, and and I don't blame ya.
So next time just give your body a mental command to roll to the side and if you hit the ground and it won't hurt, you will know you are in a LD : P Btw, I have never hit the ground. It always feels as if I stop just an inch off the ground, or it is so soft, like falling on a cloud.
Just keep in mind, that when you feel all those crazy sensations, or even less crazy ones, you are most likely in a LD already and you can get up/roll out. Happy dreams
*Moved to WILD
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