Huh? How can it possibly be rape if there was no actual contact? Attempted, maybe.
I considered a whole bunch of unpleasant ideas swirling around to a confluence in my head and I asked myself, if I were the Crown Prosecutor would I be motivated to apply a rape charge in some imaginary no-contact situation: Yes, I would.
I think confinement is a necessary element of rape; either by physical means or psychological. A person must reasonably feel or know that their right to withhold consent is being ignored, and they are in a situation they cannot exit. So in a way it is like kidnapping. Given the context, rape might also be called sexual kidnapping.
The sexual nature; the absence or withdrawal of consent; the inability for whatever reason to preserve and enforce one's own autonomy by just leaving - these seem to be the essential elements of rape. It used to be based on a specific gender combination or a specific orifice - distinctions I find outdated and meaningless. To me I think it boils down to those three things, and perhaps only those three things, though this is a new idea to me so I'm certainly open to revisions.
With no sex, no consent, and no door, it's kidnapping or unlawful confinement.
With no sex, consent, and no door, it's a denial dominatrix.
With no sex, no consent, and a door, it's a boring date that ends early.
With sex, consent, and no door, it's kinky bondage play from the fetish forum.
With sex, no consent, and a door, it's indecent exposure or attempted rape.
With sex, no consent, and no door, it's rape.
So what if one is confined and made to bear witness to or display sexual behaviour in violation of the person's choice? When someone shows indifference to consent and thus perverts human contact it certainly counts as rape. But contact is perhaps not the only intrusion to merit the label of rape. Is physical contact a meaningful threshold in that situation?
(BTW I assume by "skin to skin" you mean any physical contact: semen to skin; skin to hair, covered hand to skin)
Again, I'm grateful for any input on an aspect of something I've not previously considered.