the person in the sleeping bag acts like a heat source....
the plastic exercise mat acts like a vapour check layer.. it doent allow moisture through it...
condensation is formed when warm element touches a cold element.... this can be air, a solid etc... the warm element causes condensation on the cold surface...
in this case the person heats up the bag and plastic mat... the cold surface underneath, both the timber and concrete contain moisture.... they are never completely moisture free....
the heat is transfered from warm to cold (it tries to equalise) therefore condensation forms on the underside of the plastic mat...