consensual

Short definition from Wiktionary

Adjective

1. 1
   With permission, with consensus, without coercion; allowed without objecting or resisting.
2. 2
   Existing, or made, by the mutual consent of two or more parties.
3. 3
   Excited or caused by sensation, sympathy, or reflex action, and not by conscious volition.
4. 4
   Excited or caused by sensation, sympathy, or reflex action, and not by conscious volition: Contralaterally corresponding rather than ipsilaterally induced.