With all the words that you mentioned, you seem to be missing the point. Rape is a form of nezek. When it comes to a besulah its also gezel.* It doesnt matter whether or not she minds. Molestion that keeps a besulah a besulah is not gezel. Its just nezikin. The Torah has a very fair approach. He has to pay for damages including emotional/mental/physcological. In secular court we would call it suing. Even if you werr to posit that she didnt need therapy, edited he still has to pay. And if shes a besulah then theres definately tzaar and boshes.
It’s definately a crime according to Torah, with a reasonable punishment.
Is your question why the Torah didnt mandate a death sentance? Thats a different story.