trigger!!!!!!!!! was this consent?

i was with my boyfriend at the time in bed, we’d had sex earlier in the day and he wanted to go again. i said i wasn’t in the mood but he kept begging me and i did say no, he stripped me anyway but i didn’t stop him, he started having sex with me and it hurt because we’d just had it and i never said yes i just laid there, he also filmed without my consent. i don’t know what to call it, it wasn’t rape? but it wasn’t consent? but i didn’t fight back or anything