Was this rape,

Is this scenario an assault? /genuine question

Both parties talk about it and agree to have sex the day prior

They talk about it a few hours beforehand and then [R] visits [D's] house

They are talking and sitting on the bed for a bit before [D] suddenly begins undressing [R] with no warning

[R] goes along with it but is surprised and frozen

R is frozen and too afraid to say anything in fear of upsetting [D,] ([D] has a history of verbally lashing out and taking advantage of [R's] severe anxiety/attachment issues, so [R] wanted to avoid upsetting them as much as possible to avoid a fight) so they let it carry on

[D] is very rough and its physically hurting [R] but [R] is unable to say this due to fear of upsetting [D]

[R] wants to stop and eventually asks [D] to be more gentle

[D] only eases up a very small amount for a short amount of time, and then back to how it was beforehand

[D] leaves marks on [R], which wasn't talked about prior

[D] Also slaps [R] during this, which wasn't talked about prior

Afterwards [R] feels dirty and uncomfortable and is unable to rest as [D] sleeps in bed next to them

Reply whether you think this is an assault or not and why please