There is absolutely no way I could dance (at this point, at my beginner level) without my right boob making some sort of contact.
Yeah, me too. In certain figures it seems almost unavoidable--at least for where I'm at right now--like the closing steps in the scissor in waltz. The combination of buxom and short arms doesn't really help.

At any rate, it doesn't bug me in the slightest except for the rare times where I've "gotten in the way" during a figure and, for want of a better phrase, have to smoosh on by. I figure it's all part of dancing, though my instructor has joked that I can be distracting. lol
As for the other question (lower body contact)...eh, it happens. I'm the same height as my partner or taller, depending on shoes. Of course, my partner is my husband, so I don't mind anyway, but with others I really don't give it a second thought. I'm too focused at my beginner's stage with trying to maintain frame and follow smoothly and things like that. As for injuring someone, I'm more likely to graze their ankles with a slightly errant foot, or bump knees a bit, when "stepping through." I did clock my husband a good one once when I lost balance a bit through a waltz right turn when we first learned it, though. :shock:
To sum up, I figure that any contact of that sort that really "shouldn't" be there will be corrected eventually by overall technical improvement. If I focused right now on "space" issues I think I would stiffen up and my posture, etc. would actually suffer for a while. I guess it hadn't occurred to me that anyone I dance with would be irritated by it...