I think it depends what the rapists motives are and what you are in relation to the rapist.
If you are their enemy, its obviously about hate or power.
If you're a stranger, its most likely lust.
If they know you well and have been expressing feelings or desire for you, it may be about passion or at least what THEY believe is love-- as in they want you to be theirs, they want to have you physically/sexually and it overwhelmed them to the point they lost control and just took you. That's usually my fantasy, feelings of desire or love that grew and grew until they overthrew rapist.
And whether or not they believe they hurt you, or feel bad about it, really depends how it happened. And who the rapist is / what kind of personality they have. Not all rapists use guns or knives. Not all of them beat you up. We have sooooo many cases of "Was it really rape?" In the courts because a lot of the rapists just held the victim down long enough to have quick sex-- and it was over. No big bruises, no busted lips, no bleeding. Very little evidence of force. That doesn't make it ok, or any less traumatizing. I'm just saying, its not always he stereotypical image of rape we see in the movies with violent beatings, knives and gangs.
If the rapist is a covert narcissist or a sociopath, they won't believe that they "hurt" you, just by holding you down and sexually penetrating you. Those people truly do believe that if weapons, beatings or help from other attackers were not involved-- it simply wasn't rape. ESPECIALLY if you are on a date with them, or you allowed yourself to be alone with them. In that case, they just assume that deep down inside, you wanted them. Most covert narcissists or a sociopaths have never killed or physically brutalized anyone, those are only extreme cases. They just don't feel things like sadness, depression, trauma, empathy, etc. And some of them are weird... They will feel bad for you if you broke your leg (because they do understand physical pain) and they will even take care of you if you're injured or sick! But they feel nothing for a person with a broken heart or a grieving person. They don't understand the concept of emotional or mental pain. Or trauma. Or grief. They have never felt those things. So therefore, they essentially don't believe those things exist. Therefore, if they didn't seriously physically injure you... They will never agree or believe that they "hurt" you, or that they have done any kind of harm to you.
So if such a person is attracted to you, or THINKS they love you (I say thinks because I don't really believe they understand what love actually is, but they seem t think they do)-- then they just might force sex upon you, and it will never cross their mind that they have done any wrong to you. In their head, they did nothing more than express their desire for you. And if you don't like how they did it, well... Then YOU'RE the one with the problem, not them. They figure you're just blind and a big drama queen, and you just misunderstood their intentions.
Yes, there really are people who think like that. I know first hand, because 'm currently MARRIED to one! He has never raped me. Never hit me. He's not into that. He won't even play rape fantasies with a safe word or anything. He doesn't like it.
BUT he is a covert narcissist and while he definitely DOES feel and have empathy for physical pain (some do, some don't), he feels absolutely ZERO empathy for mental or emotional pain. He has directly told me he doesn't believe those things exist at all, and people like me just make them up out of boredom! Or because we want attention.
Currently trying to get my ducks in a row so I can leave him, because he is mentally/emotionally abusive with NO remorse-- and he constantly cheats. Again, because he doesn't believe he is "hurting" me by cheating. But yeah, people like that are out there walking around. Its really quite scary...