Most traditional moral theology manuals treat the explicit characteristics of intimacy, but do so in Latin.
In the strict order of things, any sɛҳuąƖ activity which doesn't complete in natural intercourse is gravely sinful. A liberal interpretation of this reality has led some to conclude that "anything goes" as long as the act completes in natural intercourse. I'm not convinced that's true. St Alphonsus, I've heard, regarded imperfect sodomy as a despicable act. I can't find a citation for that, maybe someone else can. But it sounds right to me.
I think the best advice comes from St Thomas Aquinas, who instructs husbands to treat their wives as their wives rather than as any woman. I think any man will intuitively understand that this means treating intimacy with a certain dignity that will preclude degrading and humiliating acts. And I think if a man asks himself "am I treating her as my wife or just as any woman?", he will instinctively know if he is acting properly.