Each concept here is mapped to its prerequisites — the ideas you'd need first to understand it — all the way down to four foundations: Space, Time, Energy, Pattern. Click any prerequisite to drill down, or scroll for the chain graph.
When the body, as a complex system, interacts with its environment in a state of rest, it experiences a sensation of physical ease and relaxation, which is the essence of comfort.
External reference — all senses of the word “comfortable” on Wiktionary. This atlas concept maps to only the slice of meaning relevant to the prerequisite graph.