I don't think he raped her at that moment, but it was certainly implied that he was planning on it in the near future. He was planning to "claim" her as his woman as soon as they got clear of the castle and on with their gypsy lives. Luckily for her that didn't happen.
But in regard to the other times, here's what I've always understood: Martin has sex with her first. Then Summer (the other guy) gets as far as entering her during the gang rape scene, but Martin stops him from finishing the act with the fire. But in the later scene, when she's tied up in the cart and Summer offers her food, then threatens her with the knife, he does rape her then. It's possible that once again he doesn't finish, because Martin stops and changes direction. Finally, in the bathtub scene between Martin and Agnes, I think that's supposed to be the first time she has an orgasm.
*Formerly fearlessclaw10*
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