Well shit, I'm jealous of you.

I'd love to be in a lucid dream for 5 hours, lol. I think Darkmatters explained what happened to you very well, you just have to keep telling yourself that it's just a dream and not real life (I've found that when you start to forget that you're in a dream, that's when it starts to go haywire and get weird). Although, I would probably feel bad if I caused one of my DCs to have a mental breakdown too, so I can understand why it bothered you.

I'm kind of like you, I've always been pretty good at controlling dreams (on the off chance that I actually get lucid). The only thing that I can think of that I couldn't get quite right was transforming into an animal (I tried to turn into a tyrannosaurus once, as well as a tiger). I think I actually turned into the hulk once though, lol.

Also, if you don't mind me asking, what kind of questions did you ask your DCs? What did they say?