Was it rape?

The other day my boyfriend was fingering me and he eventually start to finger my asshole. This was totally unexpected, we have talked about trying anal in the future but definitely not recently. I know I should've told him to stop but I knew it was what he wanted so I let him continue until I couldn't take the pain any longer. I feel so humiliated and awful over this. I love him I really do I just don't know why he'd do this to me. It hurts. Did he rape me?