Despite the subjective experience of a continuous and coherent external world, we will argue that the perception and categorisation of visual space is constrained by the spatial resolution of the sensory systems but also and above all, by the pre-reflective representations of the body in action. Recent empirical data in cognitive neurosciences will be presented that suggest that multidimensional categorisation of perceptual space depends on body representations at both an experiential and a functional level. Results will also be resumed that show that representations of the body in action are pre-reflective in nature as only some aspects of the pre-reflective states can be consciously experienced. Finally, a neuro-cognitive model based on the integration of afferent and efferent information will be described, which suggests that action simulation and associated predicted sensory consequences may represent the underlying principle that enables pre-reflective representations of the body for space categorisation and selection for action.