How to tell if the baby has dropped?

How can you tell for sure if the baby has dropped? I don't necessarily feel a ton of pelvic pressure. I'm in my 35th week and I do feel some pressure. I also haven't had any Braxton hicks contractions the entire pregnancy but I do have some cramping now. At my last appointment they said he is head down facing my side with his butt up by my ribs. He was measuring 5lbs 13oz at 34 weeks. I still feel his bottom moving around in my ribs but I also have a pretty short torso.