Dry humping, we don't know if sperm can go through yoga pants and underwear

Me and my girlfriend haven't met for a long time, so when I was at her place 1 month ago (March 26) I stayed up for night. At night time both of us got turned on, she got my penis out and started to jerk it. After some time I got on top of her with my penis out but she was with her underwear and yoga pants. I started rubbing my penis between her legs, in the place where her vagina was. She got wet and then ended. I laid down on my back and my girlfriend jerked me again. She got some pre-*** on her fingers. After some time I got on top of her again and I did the same thing but she was still with her clothes. After some time I ejaculated and ended on her pants. Right after that she got out of bed and instantly put off her yoga pants and changed her underwear. So we are wondering, could my girlfriend be pregnant now? I'm asking about this and the question is really long because we don't know if sperm can go through yoga pants, underwear and then reach her egg end fertilize her. Also, my girlfriend is very worried so if someone reads this answer as soon as you can. And she had period (April 9-14)

Thank you.