Rule 4 includes a definition of a foul that describes contact, in general, not just body to body contact:
A personal foul is a player foul which involves illegal contact with
an opponent while the ball is live, which hinders an opponent from performing
normal defensive and offensive movements.
However, once one gets to Rule 10, the various types of illegal contact all involve various types of body to body contact, e.g., hand, leg, body, arm.