consensual
adjective law formal or specialized uk/ˌkɒnˈsen.sju.əl/ us/ˌkɑːnˈsen.sju.əl/
一致同意的;经各方同意的;两厢情愿的
with the willing agreement of all the people involved
The woman alleged rape, but Reeves insisted it was consensual. 那女人声称是强奸，可是里夫斯坚称是双方自愿的。
consensual sex 两厢情愿的性行为