Can Semen seek through pants?

So, my boyfriend and I agree that I don't want him going in me. So, we grind with clothes on. Also, I examine his penis and it was just warm but it didn't seem like there was any liquid that leaked. Later that night, I thought I rubbed my self down there. It's been about 7 days, 1 week, since my 3-day period and all the tests I took was negative and I'ver been having a lot of cramps, head aches, breasts tenderness. Still, I'm paranoid and seek a lot of answers to knock my senses. Please help!
Sorry very detailed. I need answers!