I have the duvet up to my waist and then a vest top and long sleeve top (the maternity ones from H&M that are nice and stretchy and long). My ds likes instant access at night so I cut slits in the tops just under the boob. The one next to him is out all night and the top one gets a breast pad to stop any leaks.
As you can imagine I look hugely glamorous 
Also it is bloody cold at this time of year and my room is freezing so I have a blanket bundled up behind my back (when it gets too cold I put it over my head!)
Hmm, and yes, your hips do get quite painful - I find I have to switch sides during the night and the pain does wake me up sometimes. Also, dh often stays in the spare room to give us more space.
At the moment (ds is 17 weeks) I have to go to bed when he does, and that's about 6.30!! He doesn't accept feeding to sleep lying down so I hold him and then try to lie down when he's dropped off. In the night it's marginally more successful and he will often fall back asleep again.
However you will notice that I am writing this post at 5.30am 
We are not a good advert for co-sleeping I'm afraid BUT we do it because it's the only way I get ANY BLOODY SLEEP AT ALL.
Mission for the future is to get ds to go down in his hammock for the first part of the evening. He slept in it for an hour last night :o