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Think about how charges are frequently called. If there is slight contact and the defender seems to yield, a charge is rarely called. If there is more forcible contact and the defender is clearly displaced, it is likely to be called either a block or a charge.
So all contact is not a foul, and lsight contact is frequently allowed (otherwise you'd be stopping play all the time).
As for an unfair advantage gpoing to the offense as a result of the no-call, I am not sure that A letting the ball get away is is a huge advantage. During that time that ball ball was not under A's positive control, B could have taken the ball (and a good, alert defensive team would have done so!).
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