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Sounds like you had it right.
But it really depends. It could have been either a defensive or an offensive foul depending on what else was going on. Not seeing the other player is not necessarily grounds for it being incidental.
If the contact served as a screen (even unintentionally) that allowed a teammate to score by keeping the defender from making it to the shot, I'd call it as such.
If the contact prevented the offensive player from receiving a pass...perhaps the pass was made but missed and lost OOB, I'd call it a foul.
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