hmmm. if you consented to genital to genital massaging. That's pretty grey to me. I kind of agree with @Saggurl88 on that.

If he maliciously penetrated you that's a whole other story. I can't judge intent.

"heat of the moment" situations are tough. there have been times I've been "forced" into having unprotected sex with women because they jump on me while doing oral and stuff. I wouldn't call it rape I would call it a non-consented act because permission wasn't given... but it's not like I didn't want to have sex with them. you know/learn when you are in situations like that there is always a possibility things will not go as designed/planned.

Its a teachable moment.

what I don't like in general is men slut-shaming or women assuming because a man doesn't see it their way attacking them.

STUFF HAPPENS, I'm sorry if OP feels violated, but I wouldn't say rape.

I had one situation where I had a girl that only would do anal. one time by accident it slipped out and went into her kitty. It was an accident!