Warning, there is some nudity in this scene, but this is not from a hentai manga. The characters are mostly female, and they all wear really skimpy high tech costumes.
In this scene a group of girls get captured while wandering in the woods. They are attack by this girl who uses a whip-like weapon. The assailant girl uses some kind of sleeping gas on her victims.
The following chapter begins with the assailant girl waking up one of the captured girls. The captured girl has all of her clothes removed, and is in shackles.