Is this rape

When I was younger, I was at a party, and was very intoxicated. I was asleep and was woken up by a guy who was also at the party. He started coming on to me taking my clothes off and directing what to do while I was barley awake/coherent. I remember waking up the next day thinking it was a nightmare but clearly the physical pain from it remained. This has always bothered me. I was 18. He was 17