Is this sexual abuse?

So my ex boyfriend was a fucking piece of shit, but never sexually(??) well he would ask if we could have sex and I would be laying down saying no (not forcefully just like casually) and he would take my panties down start fucking me and I would just lay there... and sometimes I tried pushing him out and he would laugh and stick it back in and one time I was VERY emotional over something and cried without him seeing.. I never thought of it as a big deal. He would also do it when I was stoned out of my mind and would be falling asleep he would just fuck me while I was sleeping.. I hate him...

Edit : don't worry girls he's long gone from my life x I'm with an amazing man now but I left the guy who did this to me for other reasons and was just thinking back on this.. from your reactions sounds like I should've taken it more seriously but unfortunately because I thought it was ok cus we were dating😓