The act of peeling someone else's clothes off without their expressed permission is normally counted as a sexual assault. However, what didn't happen was rape, it's never mentioned by anyone in the books that it happened and from the Joker's standpoint, it didn't need to.
Joker already knows the in's and out's of the sane human mind, he knows how to work it into it's worst corner (he's done it a dozen times across several medias), so he knew all he had to do was bombard Jim with pictures of his daughter in that state and Jim would automatically start fearing what he was not seeing, what happened when the creeps weren't taking photoes? And on top of this, the Joker might even have 'defended' Barbara if any of his men went out of line, because that would ruin his 'joke'. (That said, even in Gotham, they wouldn't have had much time to do with since people would react to the gunshot).
The reason Jim was stripped naked was another of Joker's tricks, to put him in an unconfortable state (but there is bound to be more psychology behind it, as there often is with Moore). It didn't define him, because he wasn't physically or metally crippled by the experience.
In a sense, in the world of comics, torture and physical assaults are the part and parcel of the genre. Vigilanties commit physical assault on just about every felon they get their hands on, quite a few of them commit acts of torture physically and mentally of various kinds to get what they want. And the villains do the same and everyone has sort of agreed that all of this is the nature of the game of supercops and superbackrobbers.
Sexual assault is a big no-no however, mostly I imagine it's because comics were aimed at kids. You can show Superman and Batman punching a crook to a kid, but you can't show a man grope on a female. But even within comic-universes, sexual assaults and whats worse is abhorred, even by hardened supervillains. Like the infamous Dr. Light could be sitting down with genocidal lunatics and psychotic mass murderers, and because he was/is a serial rapist, it's him thats considered the monster by this group. (This actually happened once, you had Luthor, Joker and Cheetah run the Injustice League, and when things went to pot, Cheetah nearly managed to kill Light because of what he was... instead of the Joker with hundreds of deaths on his hands)
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