There was a porn movie made in 1999 named The Uranus Experiment: Part 2. One of the selling points of the movie is that they filmed the “1st Gangbang in Outer Space”
Mike Jittlov, the guy responsible for The Wizard of Speed and Time, shot one film in zero g the same way. I’ve seen it – he and a woman go into a “zero g” chamber in the filmed opening sequence, and the pretense of the film is that such a thing exists on earth. What theyu really did, of course, is go into a plane that followed a parabolic “vomit comet” arc. The resulting film is utterly innocent, but filled with undeniable zero-g antics. When I saw the film, Jittlov himself introduced it, and said that there were other scenes that he couldn’t show us (said with a smile). I’m sure that these were a great deal more innocent than what you refer to, but I’m sure they were at least PG, if not R.