Asking if you can touch someones breasts and having them say yes might be communication, but it still doesn't mean there's any interest in the mind, or any real engagement.
I'm not saying that the body doesn't play a big part in attraction or that you have to have a close mental and emotional relationship with people you engage in sexual activities with (and I consider touching of the breasts sexual). I just think there should be more engagement of the mind than the working out of loqistics.