Is this a normal occurence?

Is it normal to constantly be uncomfortable unless laying on my side on the floor?
When i am sitting, standing, or laying in bed, I constantly move and adjust. But when I lay on my floor, I fall fast asleep or lay still.
Any other time, my bones hurt, I automatically move or twitch or something with no control. It's almost like my muscles get a jolt of pain until i twitch and it goes away. It happens frequently. Yesterday and today I laid on my floor to relax my body, and i was fine for the most part. So I guess what I'm asking is, is it normal that I am losing control of my body unless I'm laying on a flat hard surface?
I need comments please.... I don't know what to do about it.