I have an All Terrain Camper, Bobcat, that has a 4" thick foam for the mattress. Very comfortable.
When the roof is DOWN, the bed is pulled out and the mattresses are NOT stacked one on top of the other, they are just in place as if I was sleeping on them. Roof fits fine.
When the roof is UP and the bed is pushed in... to be able to walk around inside the camper, the slide out section of the mattress is simply put on top of the non-sliding section, along with everything else that was on the floor when we were driving.
BTW, I highly recommend David at Foam Online in Goleta (Go-lee-ta).
A real hole in the wall store with a national presence.
He has helped me with all my foam solutions, i.e., patio furniture, house furniture (couches & chairs), camper, vintage cars, trucks & motorcycles, and boats.
Here is the
web page with the video where he talks about types of foam available.
I usually tell him what the use of the foam is, sitting, sleeping, both or whatever, and he has always been right with the type of foam.
I can't believe I never thought of sliding the bed out when folding down the top! I always stuffed the slide out mattress down below.