Really? No pillows or blankets? Um, how are you supposed to sleep? You might want to check out James McKenna's website (http://www.nd.edu/~jmckenn1/lab/guide.html) for guidelines from someone who actually researches infant/maternal sleep.
We removed really fluffy bedding (down comforter - all our babies were born in the winter - boo!) & kept pillows at our head height. Baby slept next to my side for the most part, but all 3 at some times slept chest to chest with an adult. We almost always had a baby btwn mom and dad (how not to, with twins). We had dogs in the bed. We had older children in the bed with our 3rd, but not right next to the baby. No drug or alcohol use, so that wasn't an issue. No obesity, so that wasn't an issue. We dropped the mattress to the floor w/ the twins when DD scooted herself off the bed - oops! W/ #3, we dropped the mattress right away. It's slightly off the floor on a bedframe. By the time they were a year old, we pretty much did whatever worked & didn't worry about "guidelines".
Key point - "guide". It's a suggestion, not rigid rules. What works in one family won't work in another. Fox TV did an interview w/ James McKenna a few years back & the common factor in all the cosleeping deaths reported was formula feeding. They all had other factors, but all the babies were formula fed. So if you're not breastfeeding, then there might be more risk involved.