There's apparently something called T Magazine and Rosario Dawson did an interview for it a few weeks back.
In it, she discusses lesbian sex, being completely naked on screen, abortion, and the following sex scene...
That's from Alexander, the Oliver Stone film Dawson addresses in her T Mag interview:
The only sex scene I’ve done that caused a fuss was the one I did with
Colin Farrell in ‘‘Alexander.’’ That scene was intense. I thought it
was necessary to the movie — in life sometimes you’re naked. But it was
not soft porny in any way, which would have been harder for me. My
brother, who D.J.’s in a strip club, was relieved when he saw it. He
said he was happy that I ‘‘was fit.’’ He didn’t want to be embarrassed
around his friends.
Sorry, Rosario, but it's an Oliver Stone film-- it was definitely soft-porny.

She also discusses lesbian sex, her mother nearly having her aborted, and love scenes with Will Smith:
I didn’t have sex until was 20. I got into trouble at school because one
of my friends said, ‘‘Lesbians do it with straws.’’ I said, ‘‘I can
tell you how lesbians do it, and there are no straws involved!’’ But I
think all that talk of sex put me off. The first time I had it, I think
it was in a head-to-toe rubber. I was terrified of getting pregnant. My
mom was planning to get an abortion when she was pregnant with me. She
was at the clinic waiting for her appointment and she felt me move in
her stomach. I always tell her it was probably gas. I thank God for gas.
Before our first major kiss, [Will Smith] said, ‘‘Let’s go — I’m going to nail
this scene. I want to go home.’’ [Laughs] But he focused. Kissing can
be more intimate than nudity. You have to take your time.
We don't know about that last one-- getting attacked by a horny Colin Farrell, trying to kill him, and then having full on-screen sex is pretty intimate. It almost made us embarrassed for having been so pleased to see her naked... almost.

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