There's no requirement for a rape to be violent.

Sex with a toddler is rape. Sex with a passed-out person you run across is rape. Sex with a blindfolded person who's into bondage but expecting someone else is rape.

If someone says they're only willing to have sex with a condom, and you secretly remove that condom, you're having non-consensual sex, i.e. rape.

Well, this comment did not age well...