Is it permissible in Islam to have sexual intercourse with a slave woman or a concubine against her will, and how did Muslims treat captives?

The owner of a slave girl is permitted to have intercourse with her by right of ownership without a marriage contract, and her consent is not required. Islam has enjoined good treatment of the enslaved, encouraged their emancipation, commanded that they be fed from what one eats and clothed from what one wears, that they not be burdened with what they cannot bear, and made their emancipation an expiation for those who mistreat them.