Err, that's not exactly a rape scene...
Madonna and Maudin feel for each other, but because Esper/Human love is a cultural taboo, most people feel that it cannot exist. Because of this, Madonna will not let her true feelings for Maudin show. That's why Maudin tells her that there's no way to know if Esper/Human love can exist unless they try. Thus, they try, and Terra is born.
