I'd agree that as long as the subject is willing (of their own free will), of sound mind, and able to comprehend what he/she 's doing that it should be allowed.
Of course, I have similar views on slavery, but I haven't gone into deep thought about that yet, so I don't know if it can ever be changed to an... acceptable form.
As a side note:
Rape isn't about sex, it's about power.
It's about doing something to someone cause you CAN, not cause you want sex. We all know there are prostitutes for sex, but not rape. Rape is a power trip, not a sexual urge (unless you're aroused by power... which you probably would be)
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