Science has taught us, against all evolved intuition, that apparently solid things like crystals and rocks are really composed almost entirely of empty space. The familiar illustration represents the nucleus of an atom as a fly in the middle of a sports stadium. The next atom is right outside the stadium. The hardest, solidest, densest rock, then, is 'really' almost entirely empty space, broken only by tiny particles so far apart that they shouldn't count. So why do rocks look and feel solid and hard and impenetrable?
I won't try to imagine how Wittgenstein might have answered that question. But, as an evolutionary biologist, I would answer it like this. Our brains have evolved to help our bodies find their way around the world on the scale at which those bodies operate. We never evolved to navigate the world of atoms. If we had, our brains probably would perceive rocks as full of empty space. Rocks feel hard and impenetrable to our hands because our hands can't penetrate them. The reason they can't penetrate them is unconnected with the sizes and separations of the particles that constitute matter. Instead, it has to do with the force fields that are associated with those widely spaced particles in 'solid' matter. It is useful for our brains to construct notions like solidity and impenetrability, because such notions help us to navigate our bodies through a world in which objects – which we call solid – cannot occupy the same space as each other.
A little comic relief at this point – from The Men who Stare at Goats by Jon Ronson:

This is a true story. It is the summer of 1983. Major General Albert Stubblebine III is sitting behind his desk in Arlington, Virginia, and he is staring at his wall, upon which hang his numerous military awards. They detail a long and distinguished career. He is the United States Army's chief of intelligence, with sixteen thousand soldiers under his command … He looks past his awards to the wall itself. There is something he feels he must do even though the thought of it frightens him. He thinks about the choice he has to make. He can stay in his office or he can go into the next office … He stands up, moves out from behind his desk, and begins to walk. I mean, he thinks, what is the atom mostly made up of anyway? Space! He quickens his pace. What am I mostly made of? He thinks. Atoms! He is almost at a jog now. What is the wall mostly made up of? He thinks. Atoms! All I have to do is merge the spaces. … Then General Stubblebine bangs his nose hard on the wall of his office. Damn, he thinks. General Stubblebine is confounded by his continual failure to walk through his wall.

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