Is it possible to roll onto and hurt my baby while co-sleeping?

Yes. Unfortunately, cosleeping is a cause of many infant deaths and injuries each year. It is currently not recommended to sleep next to your baby.
? remember history ? The famous story of the wisdom of Solomon dealt with one woman who stole a baby because she had "overlain" hers.That was the first written record of a mother smothering her baby during co-sleeping.We loose about 100 babies a year in the US because mothers "love" their baby to death this way.It is not recommended.Understand the risk It could happen to you.
Yes. Sudden unexpected infant death is much more common with cosleeping.