I also started as a CJer, but I don't think I've ever seen anyone mix the two well, they just need different ways of moving, and one always suffers.
But why do you think contact and dance don't mix? All the best contact juggling I've seen was at least 50% dance...
If you haven't already seen it, you might be interested in watching a YouTube video featuring Gina Shvartsman Cristiani, a world-renowned professional juggler and circus performer. The video's title is "Juggler Cirque de Demain 1998 Gina Shvartsman Cristiani." Although what she does is not really contact juggling (it's bouncing a ball off her forehead while doing some hooping tricks), it's still worth viewing just to see what can be accomplished with two objects that behave very differently. The ball moves in a linear fashion, whereas the hoop's motion is circular. My background is also juggling, and it was this particular video that inspired me to take up hooping. (The hoop segment comes on at the 2 minute mark.) Regards, Simon