Yes I have that too. I'm 30 weeks into it with my 3rd pregnancy. A myotherapist helped my hip and back pain immensly. I am now going to go and see a specialists chiropractor who only treats pregnant women and babies. The myotherapists has done wonders for my muscles and tendons but says she can't really align my pelvis and pubic bone which is what I need. I can't sleep on my sides because it hurts so much in the morning. Shooting pains in my groin and down my legs. I can't sleep on my back because I can't get enough air in my lungs! I'm getting to the point where pain killers (panadol forte or panadiene) is the only thing that I can take. I will be getting crutches next week because putting one foot in front of the other is difficult. No traditional methods helped me - such as, pregnancy girdle, pregnancy body pillow.... nothing!! Just pain whatever I did. In fact the pregnancy belt support my physio gave me, made the pain worse.
Good luck and try some ice packs rather than heat packs. Very uncomfy though. I have to have a heat pack on my lower back at the same time as an icepack between my legs!! Attractive I'm sure and incredibly uncomfortable, but seems to relieve the pain in the pubic bone for a while (or at least dulls it a bit). The heat pack is for muscle relief which is a different issue to the structural problems we have.

Try to lie down as much as you can.