I really don't think there's anything inappropriate going on there...given the ex-husband forcing him to sleep on the floor (or at least not with them), it may b that sleeping with her constitutes some form of reassurance and...kind of anti-rejection? (I'm sure there's a word for that that I don't remember).
Regarding what happened last summer, if he feels comfortable enough with her to sleep in the same bed, he may also have felt that she was a safe person on whom to "try out" that kind of behavior, especially if he thought she was asleep. I agree that that's a little creepy, but it seems more like a sign of immaturity in some areas than of anything bad going on.
I wouldn't advise doing anything just yet...keep in mind that he's 14, an age at which people change very rapidly, and the process of differentiating from the parents begins. It's very possible that he will decide he doesn't want to sleep with her anymore sometime in the near future. Unless something changes in such a way as to make you concerned, I'd say leave it alone for now...if it's still going on by th time he turns 15, then you can start worrying, although the problem there is more one of a probable lag in emotional development than of anything inappropriate per se.