Given that you were, by your own admittance, very high, there's a good chance that means you didn't have the capacity to consent, even if had chosen to to. The legal definition of rape, & what constitutes consent (or lack thereof), is different from place to place, however its basic definition, is affirmative consent, freely given, by an individual with capacity to do so capably. If you are unsure, you could speak to a sexual assault hotline or similar to find out more, if you still have questions.

Regardless of definitions though, this encounter is concerning because not only did you not consent to having sex with this guy, but he didn't ask whether you consented beforehand, which indicates that he wasn't very considerate of you & your feelings about the whole thing, & that's pretty ******. I hope your future partners are less selfish, & treat you kindly & respect your autonomy more.