I extend the consent to mean protection by oneself.
I’ve also heard of someone who said that rape is covered by protection by law. However, I think this is too arbitrary and dependent on the law of the day whereas consent is more universal ethics.
Outside of the 5 precepts, as general what the Buddha taught, he did heavily condemn people who raped Bhikkhunis as to not able to receive ordination. The consideration of parajika for the sexual intercourse rule, states that if a monk is raped, and doesn’t give consent, he didn’t broke the rule. So the concept of consent is implicit in there.