wow. well thanks for the confession. i am sorry you feel the way you do about it.
from what you said i see no assault, as he didn't hurt you in any way. no abuse, no rape, no coercion. you could have said no at any time, but you didn't say no because you didn't want to.
you were aroused by a man and you wanted to explore it and so YOU LET HIM DO STUFF TO YOU.
you consider those events to be abuse and assault, that is how you perceive it and that can't be argued with. but it's only abuse because you think it is.