was i sexually assaulted?

when i was 14 in october of 2018, my family lived in a camper at a camp ground while waiting for our house to be fixed after a house fire. so there was 4 beds, the bunk beds me and my brother and the the pull out couch, my other brothers, and then my parents. well i was watching a movie in my parents bed with my mother and i was wearing a nightgown with no undies (which i usually did), and anyways i guess i fell asleep, and i fell asleep facing the opposite way as my mom and when i woke up my dad who i could tell was drunk (who’s an alcoholic) was right there (it was a queen sized bed) beside me facing my and i could feel rubbing on my vagina, i was too scared to move to make a commotion so i just tried to close my eyes and pretend it wasn’t happening, eventually he fell asleep and i climbed out of the bed over my mother without waking them up and went to my bed. i don’t know if i was sexually assaulted. i’m 15.