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if consenting adults voluntarily agree on performing certain activities, there's nothing illegal about it. Look at it this way - if you have a partner who likes to get tied up as part of sexual play, it's not illegal restraint. But if you take someone against their will and tie them up to hold them hostage, that would be illegal. You would perform exactly the same things on each of them, only in first case it is a simulated restraint with full consent of your partner, whereas in other it is against their will. Same with rape. If you have a partner who gets off on being treated like shit, beaten, and fucked as if you were raping her (there are girls like that out there) there is nothing illegal about it.
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