Traditional theories of perception have assumed that visual processing is not influenced by top-down cognitive processes and is thus driven entirely by physical properties of the environment (Pylyshyn, 1984). For example, how a person sees stimuli such as a cup of coffee or a steep hill was thought to be only determined by factors such as the roughness of their surface and the amount of light entering the eye. However, recent research has shown that perception of space is also influenced by different bodily and experiential factors. I will review our recent work to suggest that perceptual processes take into account social and physiological resources, and that therefore perception of the world is a reflection of the extent to which one can act in it.