I'm hurt and confused, was I raped?

My children's father and I usually have sex all the time but I always tell him to use a condom. Tonight was different, I asked him to use one but he said he didn't want to. I started to beg him as he laid between my legs kind of forcing me down. I begged and begged and said please use a condom but he put himself inside of me anyway while I was saying no. He kept going until he was done. I don't know how to feel because now he has his arms around me while he's sleeping and I'm laying here with him. I feel angry and confused.