It was definitely some sort of sexual assault/rape legally speaking. There's no reason to feel dirty, you were his victim. To be honest, I'd say that falls into the range of being reportable to the police given that he physically forced it. They might not be able to prove it, but people who do that stuff usually re-offend. So, having it on record would add to the collection of evidence against him. Who knows, he could already have been reported by others.