That is fairly true. When I transition into lucid dreaming directly from waking-consciousness, it's not like you just go from one state to the other. There is this process, and it happens exactly the same way every time I "sleep". At first you feel an incredible surge of electricity, movement, heat, like your body is being sucked into a hole or something, and then you feel a very sudden jolt and lose all feeling (I believe this is when the spinal cord disconnects your body from your brain,- an evolutionary mechanism to protect you from walking around while you're unconscious, that is, sleep-walking) save for a feeling of 'falling''; you hear the air rushing past you until it's so loud you hear a "pop", after that you're pushed through this ... I don't know how to put it, some kind of wall. (This process happens, nearly identically, during a DMT trip. Hence the as yet unproven, though commonly hypothesized idea, that DMT has something to do with the science of dreaming. In that context, this "wall" that you're pushed through is called the "chrysanthemum"; it's exactly the same thing going on with lucid dreaming and DMT as far as I can tell, having lucid-dreamed for the last 10 years and used DMT a few times myself.) Then finally there's nothing. Just black space. Slowly, you start to perceive movement in that blackness, like ripples on water, and lines start to form on its surface, then the lines begin to intersect, then the lines become simple shapes, then you begin to perceive depth as the shapes become 3-dimensional. At that point you begin to see vague outlines of things drawn with these shapes, maybe a face, or an animal, a house, etc. Just fleeting forms. But then the forms begin to interact, they start to move; they aren't drawings anymore, they are animated objects. And slowly, piece by piece, the dream forms from simple random shapes to fully developed 3-d scenes populated by objects and beings.
I assume this happens to everyone but, unless you do lucid-dreaming, this is not a process you ever observe, as you lose (you're supposed to lose) consciousness before you ever experience the jolting sensation of disconnecting your body through the spinal cord, the first stage in this emergence of the dream. While lucid dreaming, you get to see this whole process unfold,- something that happens to your body every night but which is hidden from you, something you're never supposed to be conscious of in the first place. But once it is done, if you are lucid dreaming, it is at that final stage that you can begin to try and control the dream. A person's first lucid dream: they're not going to be able to control anything in the dream except themselves, let alone invoke a projective avatar of their own unconscious. So there is a learning curve, and techniques you must learn, to get the most out of lucid dreaming. With mastery of it, you can summon entire environments, create 3-d memory palaces as a kind of quasi-sentient, living library to store information in; you can gain access to a projective avatar of your own subconscious and utilize its basically limitless creative power to extend your own work in the waking-world; you can create realistic simulations and re-live important memories, etc. etc. etc.
The experiment I am doing on myself, to actually bring that projective avatar into the waking world, so I can utilize its creative power while I am walking around here in the real world- gaining permanent access to it; that experiment is ongoing. I believe the ancients knew how to do it, following my comments on Pnouthis and the 'synthemata', and that I am simply rediscovering something.