Was I sexually assulted?

So yesterday I hung out with my cousin and my ex who I remained friends with. My cousin isn’t trustworthy and is friends with someone who’s raped me in the past but she’s my cousin so I let it slide 🤷🏽‍♀️. But anyways she had asked me to let my ex hang out with us tomorrow ( she’s friends with him ) and I was like okay. So the next day, we hung out. My cousin was paying attention to me and my ex at first but then he had started to hit on me. Once he started to hit on me, my cousin ignored us and got on her phone. I was honestly having fun with him for like the first 10 minuets, but I wasn’t flirting back because I have a man and he knows this. So then he snatches my phone from me, and goes through my gallery. I tell him to give me my phone back and he won’t. So then he puts it on the floor in front of him and makes me bend in front of him causing my boobs to hang in his face because I have on a tank top, and he’s staring at my boobs while I’m doing this. Then when I pick up the phone, he snatches it from me again and runs into the bathroom and comes out about 5 minuets later and said that he sent all my nudes to himself. I never gave him permission to do this but ok. But anyways, we forgot about it and we’re laughing and carrying on again. Then, he starts staring at my boobs again and he keeps grabbing them and I told him to stop and he didn’t. I told my cousin to look up at us and when she did he kept going and she just store at us and didn’t try to help me. Then he decides to leave, he hugs me and leaves. Should I feel assulted? ( psa- he has been charged with RAPE in the past but I didn’t believe he really did it at first because the girl dropped the charges and he said that he’s not that type )

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