Rape?? 😕

In the summer on my DofE walk I went to stay in one of the boys tents Cus I was getting up early with one of them to see the sun rise, and he's tent mate got really handy and touchy under the covers and I ignored it to start with but the he was getting me to do stuff to him and shit I told him no a few times but he didn't listen we ended up having sex and it went to the police but they said they couldn't prove it and I'm really unsure if it was or not Cus I felt shit after and I found it horrible. Was it rape???