1. You know he had a crush on you for years.
2. You’re both aware of your situations (you’re in the middle of a divorce, and he’s separated).
3. You invited him to your house during the night/evening time.
4. You allowed him to rub your feet and then legs.

Pretty unusual way of spending time with a friend… I would consider it to be invitation for something more. Sure, the guy is a f….. g idiot for going so fast instead of playing it slow, but this situation YOU put him in was very… ambiguous.