Adding as themes rape, torture and BDSM is moving Bara close to Hentai, although they are not the rule.
Man-to-man love and sex, with the accent on real-life situations (sex) and not romantic scenes and deep feelings (as in Yaoi) – that is Bara (薔薇). Characters both physically and emotionally have some feminine qualities, which both with emotional scenes makes difference from Bara. It can be platonic, romantic, or fully sexual love ( anal sex) between men.
“Boys’ love” would be the best translation for Yaoi (やおい).