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Illegal contact led to an unfair advantage being gained by the defense, because ignoring the contact means a violation on the offense and ball to the defense. You can call a foul in this case.
There are also many instances where there is slight contact, especially in light of how a game has been played/called, and that contact leads to a violation. This contact is often viewed as incidental. Again, you have to be there to know which is appropriate in this particular case.
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