Did my water just break...?

So I'm 31w3d and the past two days my tummy has been tightening and cramping up a lot with a lot of pressure. I was just at the dentist and just sitting waiting I was getting antsy because my stomach was so tight the whole time and I had so much pressure in my ribs... I was just walking out and I feel a pop, idk how to explain it, it just felt like a little pop in my vagina and then I felt like something was leaking out.. I started driving home, about a 20-25 minute drive.. As soon as I got home I checked and my underwear (thong) is all damp. ( tmi but not sure from sweat or not cuz it is hot today) But not wet enough to get through to my yoga pants.. No color at all, but no pain either. It wasn't a lot either.. I have Just some cramping now.. It's coming and going but overall no pain really. What could this be or mean ? Has anyone else experienced this.. Can it be my water breaking even if it was not a lot ??