What Is the Main Difference Between Rape and the Offence

What is the main difference between rape and the offence of assault by penetration?

A) Assault by penetration includes penetration of the mouth, while rape does not.
B) Assault by penetration can involve a penetration using anything; rape is restricted to penile penetration.
C) Assault by penetration requires proof that the defendant intended to penetrate, while rape does not.
D) Assault by penetration does not require proof that the victim did not consent, while rape does.