Thanks J.G for the very useful hint! I think I have it:
first, let $A=z-c$ and $B = \sqrt{(x-a)^2 + (y-b)^2}$, an define an angle $\phi$ such that:
$$ \tan \phi = \frac{y-b}{x-a} $$
then the integrand becomes (through some algebra and use of the angle-difference trig identities):
$$\frac{1}{A + iB(\cos \phi \cos u + \sin \phi \sin u)} = \frac{1}{A + iB\cos(u-\phi)}$$
now by J.G's hint, a simple change of variables ($ u^{'} = u-\phi$) will show that our integral (without the $2\pi^{-1}$ factor) is equivalent to:
$$\int_{0}^{2\pi}\frac{du^{'}}{A + B^{'}\cos(u^{'})} = \frac{1}{B^{'}}\int_{0}^{2\pi}\frac{du^{'}}{A^{'} + \cos(u^{'})}$$
where $B^{'} = iB$ and $A^{'} = \frac{A}{B^{'}}$. From here I made use of the result I obtained from this post:
$$\int_{0}^{2\pi} \frac{du}{A + \cos u} = \frac{2\pi}{\sqrt{A^2 - 1}}$$
from which (by some more algebra) we can obtain the desired result:
$$\frac{1}{2\pi}\int_{0}^{2\pi}\frac{du}{(z-c) + i(x-a)\cos u + i(y-b)\sin u} = \frac{1}{\sqrt{A^2 - (iB)^2}} = \frac{1}{\sqrt{(x-a)^2 + (y-b)^2 + (z-c)^2}}$$