Severe panic attack pregnant

I’m 20 weeks and I had a severe panic attack last night. It must’ve lasted 30 mins. I was hyperventilating, crying, felt like I was dying, my heart was racing and all that. I’ve had panics attacks before but this is my first one since I been pregnant due to overwhelming stress in my life. The whole time I just thought about my baby and how I didn’t want it to hurt him. I felt little kicks here and there I just hope he didn’t feel all my pain and suffering. I do plan to get help I was just wondering if the baby can feel all that. I read online that it doesn’t, and that you should still get help especially with the breathing but I just can’t help wonder