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A key point to keep in mind here is player expectations and understanding. You don't, I think, need to ask a player for explicit consent to have their character be violated in any way, sexually or otherwise, because a well-composed group is one where the players know precisely what they're getting into. If you're running a violent, hentai-horror-esque ERP, then it's already understood that the PCs are at the risk of getting raped; just like how if you're running a gritty, pulpy adventure fantasy campaign it's already understood that characters are at risk of getting killed; or like how if you're running Call of Cthulhu the understanding is that characters are at risk of losing their sanity, etc.
If anything unpleasant and wildly outside of player expectation and understanding occurs in-game, that's a bad move on the GM's part. I'm not talking about surprising your players, or about taking the campaign suddenly in a drastically different direction than it's been going; I'm talking about something way out of left field, for instance, rape in a standard D&D adventure fantasy campaign. It's A) something many players would consider unpleasant and B) not part of the expectations of the group, and thus should not be included.
There are exceptions to this, but as a general rule, if you have to ask for a player's permission to do something to their character, you shouldn't be doing it in the first place.