I thought I remembered it as consensual in the book, but it's been so long it wouldn't surprise me if I misremembered it.

More ambiguous in the show would have been much better.

Yeah, I saw Martin's comment. I wonder how much he could say, if he had wanted to say more? I wonder if somewhere in the contract it says he can't say bad things about the show? (Though it would be in his own best interest not to as well, I guess.)