Bodies get stiff and hard after a while due to rigor mortis and they usually like go back to the position they were in when they died. So morticians can see them kinda move – Im not sure to what extent it goes though they wont make huge movements. It has nothing to do with touch. You could rub the dude off for years.
When you touch a nipple, blood flows to the area and muscles contract, pushing the nipple out. Much the same as an erection. Why? A few reasons, if a nipple is being touched, there’s a chance its for breastfeeding, so it becoming hard helps, or its due to sexual arousal, and the same thing applies. Cold can also cause them to go hard, this is due to muclscles contracting to lessen heat loss.
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