Sherlock calculates everything. He has little concept of personal space, and especially when he is excited he has a tendency to grab people to get their attention (okay mostly John). He doesn't have anything against personal contact, but he uses it like a tool, rather than through empathy.
Sex is a non-issue for him, as is kissing and other romantic physical attention. In my head cannon he experimented in college, but found sexual relations incredibly boring, and has never had any romantic inclinations.
His reaction to physical touch from others depend greatly on the person and the situation. He will accept hugs from mrs Hudson, for example, but would likely balk at any sort of touch from Anderson. John obviously is the person he is closest to, but they don't share a lot of physical affection. The more interesting thing is that Sherlock is comfortable enough with him to act naturally.
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Sex is a non-issue for him, as is kissing and other romantic physical attention. In my head cannon he experimented in college, but found sexual relations incredibly boring, and has never had any romantic inclinations.
His reaction to physical touch from others depend greatly on the person and the situation. He will accept hugs from mrs Hudson, for example, but would likely balk at any sort of touch from Anderson. John obviously is the person he is closest to, but they don't share a lot of physical affection. The more interesting thing is that Sherlock is comfortable enough with him to act naturally.