Throughtout our evolutionary history dominant and submissive relationships were the norm. The thing that people tend to forget is that those types of relationships, although built around a party 'imposing' its will on the other, is still mostly voluntary.
Men, for the most part, asked women (or at least their parents) to marry them. That isn't to say that there were not times in our history that sex between males and females was involuntary... because it was. But it's important to recognize that it is also somewhat involuntary in the animal kingdom in general. This is not a point from morality but from fact.
But out of that so-called 'natural rape' came an evolutionary adaptation. Females, to a certain extent, [can] enjoy being dominated. That's just how the hormones evolved. It's also why books like Fifty Shades of Grey and other erotic stories are so popular and consistent.
This is not just because it's taboo... it's because it is biology. A person can fight their natural inclinations but in the end, with something like sex, who are they really hurting?
This isn't (all) to say that there aren't different types and levels of BDSM but at it's most basic ... it's human.
It's also important to remember that even when it was possibly involuntary men consistently laid down their lifes for their families.
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