It's an open question. Roger of Howden relates a hermit who warned, "Be thou mindful of the destruction of Sodom, and abstain from what is unlawful", and Richard thus "receiving absolution, took back his wife, whom for a long time he had not known, and putting away all illicit intercourse, he remained constant to his wife and the two become one flesh." Roger of Hoveden, The Annals, trans. Henry T. Riley, 2. Vols. (London: H.G. Bohn, 1853; repr. New York: AMS Press, 1968). But there's no contempraneous record of him having any kind of sexual relationship with Philip of France - that seems to have been an invention of the writer of the play The Lion in Winter.