Daniel, you speak of the perception of needing physical comfort, and I know exactly what you're describing. This kind of physical comfort doesn't need to be sexual (though it can include that) but is rather more fundamental, a simple yet profound reassurance that you're here and you matter...LITERALLY. I remember last summer, when I was seriously contemplating suicide, and my friend Steve sought me out and would stay with me for a spell, just listening to what I had to say. I remember hugging him and feeling the wonderful reassurance of his physical presence, the warmth of his body and the tender reality of the sweat on his clothes. I felt connected to the universe through him, and felt a sense of worth and belonging. That sense helped me get through that time, and helps me today.
I was lucky enough to have a Steve in my life at that moment, but not all fraught moments are endowed with such blessings. What do we do when we have no one but ourselves to love us and reassure us? It may be "second best", but we can do something to remind ourselves that we are loved. Eat a little comfort food--give your feet a well-earned massage--wear soft, cozy clothes--regard yourself in a mirror and recognize the vulnerability and goodness that is you. And hopefully, while ever being mindful of your own presence and worth, another will come along and freely give evidence of their keen admiration for the You that is you.