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If you do an "All-Out Attack" (B365) with your penis, you can opt for either a "Determined" +4 to strike (good for getting it in and not missing) or a "Strong" +2 to damage. +2 only brings it to 3 damage, not enough to hurt you, so you need to get creative. The 3d6 critical hit table on B556 has possibilities which can incur damage to you on a 'strong' penis thrust.
3/18: triple damage (3x3=9 damage means you surpassed 5 and take 1 damage)
5/16: the blow does double damage (3x2=6 damage, take 1 damage)
Both of these only work with a base of 3 damage to work with though. Doubling/Tripling a single point of damage won't work to hurt you if you don't do an all-out attack with your penis, so you're safe, right?
Nope, because there is also the 'Unarmed Critical Miss' table (B557) including:
3: knocking yourself out
4: taking 1 HP to your limb, is crippled
5: hit a solid object instead of foe
etc.
In resisted rape, there is a higher chance of this. If the targeted victim doesn't opt an all-out-attack on you, they could be doing an attack+defense or an all-out-defense. If they get a critical success on a dodge/parry (assuming you haven't pinned them via grappling, which would negate active defense rolls) this would also force you to roll on the critical hit table.
Additional penalties would also apply depending on what you are targeting.
Looking at the rules on page 137 of GURPS Martial Arts, it is -7 to hit a nose or an ear.
That doesn't take angle into account though. That's attacking from ANY angle. You might be able to poke a vagina for a -7 but to attack from an angle that allows your attack to go inside would be even harder.
Consider the spine, which is -8 to hit, for example. "The spine (in the torso) is a hard target – narrow, bony, and buried in meat"
I'd class the vagina at -9 just to keep it in the single-digit range but...
Page 68 of GURPS Martial Arts (bottom purple Optional Rule: Targeted Attacks) gives a mere -3 to strike the groin, but I think the "-10 for chinks in the armor" caveat would apply here. If you miss by 1 you should hit the pubic bone, similar to how you hit the torso if you miss the spine by 1.
We'd need special rules on how to multiply damage that gets into it. This to reflect the above concept that you may get 0.5 damage via 1D6div2 or 1div2.
Something like double damage as a new vital spot. But we'd have to design the vagina and the anus as traits somehow to do this.
Eye-gouging (Martial Arts page 71) might be a good basis for grabbing the pelvis and putting your dick into 1 penis socket, instead of grabbing the skull and putting your thumbs into 2 eye sockets. Penalties for 1-handed maneuvers apply, so if you're only grabbing the pelvis with 1 hand you are -4 to strike. A thumb does thrust-4 crushing, and penises should be weaker than thumb-gouges, which is why designing it as an innate attack is essential, instead of a Striker.
Have it default to Brawling/Judo/Wrestling as usual. This does mean not anyone can do this. Requiring at least 1 character point to be spent in Brawling to become an effective rapist seems realistic to me.
If you were trying to jab the penis in without grabbing hold of the pelvis first, I would base this on the eye-poke technique on Martial Arts page 72. I would only let it default to Brawling minus 9 though, I don't think Boxing/Karate would make you better. Brawling covers unorthodox stuff like biting so it's the best match for rape.
If you merely wanted to rub your dick on the outside of the vagina, use 'Eye Rake' as the guideline (only Brawling minus 5 to hit)
These penalties are just guidelines as to what penalties to use. Actually designing them would be the Inaccuracy limitation to take on your Innate Attack. IA also makes sense because penis damage shouldn't be ST based because a higher ST doesn't necessarily mean a bigger or sturdier dick.
What I am having trouble with, and would like some help with (picture-related) is how to design the inverse of stereotypical rape with GURPS rules. Namely that of the attacker using an orifice to envelope a projection.
I figure it might use similar rules to biting except with a strike penalty because your line of sight is not as adjacent to your target.
Something heavier than the -3 to hit the groin seems in order because you're not just hitting anywhere there (which would include other parts like the balls/perineum) you're trying to grab a specific piece. A full -10 for chinks in the armor seems too extreme, but a -8 like for hitting the spine (or a chink in torso armor) could be more reasonable. Grabs for weapons is -4 (page 68 of Martial Arts) and grappling a body part is normally at half penalty, so maybe grabbing a penis should be -5 (it's smaller than a knife)
Extreme penalties can be offset by the aforementioned +4 from All-Out Attack and another +4 from Telegraphed Attack (Martial Arts page 113). Due to that, heavy strike penalties should be done for realism. Telegraphed attacks are easier to defend against, so if you're lining your dick/vagina up obviously it's going to be easier for a rape victim to dodge their torso out of the way or parry with a thigh.
Obviously pinning them in various ways can affect the ability to resist. Martial Arts page 117 has good rules for this, including "Sitting on Him" which applies well to a female attacker.