Your ex must have sold your car by filling out the registration certificate (V5) to transfer the ownership. This is a problem that car owners face when they are not the registered keeper. However this is not to say that it should be permitted. The good thing is that you have all the proof to show that you are the actual legal owner and nobody is allowed to sell the car besides you. Contacting a solicitor to discuss this further is the way forward as it is a legal battle. You can always phone for a solicitor's advice free of charge or if you want, you can also try the Citizens Advice Bureau.
You would probably be able to recover your costs once the judge has decided in your favour, so the sooner you act, the faster you can have what is really yours back.