Is it rape?

Ok so I was thinking about the actual definition of rape, not the emotional part...and I'm not sure if I was raped by my ex boyfriend. He would mostly ignore me except when he wanted sex, and then he'd be super sweet (till we got out of sight to his parents) then he'd basically throw me on the bed and strip me and start, sometimes with almost no foreplay. I would always be telling him no no, quit, leave me alone, (I hate being held down or forced, I panic) and he wouldn't listen. I was never particularly traumatized, but it was definitely without consent, and the very few times I even asked for sex from him he would say no if he didn't feel like it. So what do you ladies think? Was it rape, or just him being pushy?

P.S. I ended up leaving him four months ago and am now with the most amazing man I could ask for 💙