My drunk girlfriend wanted to have sex with me and I gave in

Last night was just a shell shock for me. I came home to my university dorm house at 3am to find my friends and girlfriend plastered drunk. They wanted to study and I wanted to go to the gym so I went and decided to hit the library since there was one right next to it. I came back and out of nowhere everyone is either tipsy or completely drunk.
Since they weren’t in a good enough state to leave they all stayed over the night including my girlfriend. We slept in our bed and I was completely wiped. She however was super horny and wanted to do the deed. For some reason the frustration snd tiredness made me give in. I guess I wanted a distraction. But while we were at it she looked slightly out of it so I asked multiple times if she wanted to stop. She said no each time and assured me she wasn’t that drunk and wanted to keep going. It wasn’t until the morning. After that I realised the severity of the situation and I asked for some space due to how she was behaving and how upsetting the whole ordeal was last night. I am super guiltily and wish I could take it all back.

Does that count as rape? Am I a criminal now?? I am derisively stressing about this! I didn’t push her at all. She came onto me and for some stupid reason I said yes. I just wanted to be close to her. I didn’t force her! And I asked multiple times if she wanted to stop but she didn’t care and kept going! I’m so confused! I just want to take it all back!