As long as they have a safe word established and the safe word is always respected, then the act is consensual and everyone involved agreed to it. In a real healthy BDSM relationship, all limitions are discussed ahead of time for each play. Every play is typically planned or discussed ahead of time. After the play is finished, the Dom checks on the Sub and spoils them to ensure they're in good emotional health.
Since the safe word was ignored during the bathroom scene, I wouldn't consider their relationship healthy and yes he straight up hurt him when slamming him into the bathroom floor.
interesting (=・ω・=)
Is he straight up hurting him. He knows he likes pain but he doesn't know where to stop? I feel like he's being a bit too aggressive. Can someone clear this up for me Thanks