TCTTS said:
It's been so long, I can't remember if Driver's character's argument is essentially, "We didn't have sex/relations of any kind" or "We had sex, but it was consensual."
He changes his story back and forth depending on the needs of the moment, and it's after we've realized that two characters we at first suspected are "good guys" have perceived the same events very differently.
First he tells Affleck he never touched her
Then admits that he did, but that her protests were formulaic rather than real
Then denies it in the rumor mill
Then swears to the king that he never did
Then stands by quietly while his lawyer makes a muddle of the issue implying that it happened but Marguerite wanted it
Then denies it on pain of damnation during the duel
The one thing he never admits is that it was non-consensual. During the critical scene itself, you suspect that he realizes the magnitude of what he's done but is already talking himself into a different version of events