A lot of the theory and practice around positive, informed, active consent that I've learned over the years I learned from people in the BDSM scene. The good folks in that scene understand it and take it extremely seriously. Like no matter how vanilla the sex is, I always talk about safe words with people first, and check in regularly, because its a useful tool to have even if you never need to use it. And I learned that from hanging out with BDSM people.