wearing panty 7 shorts on while bf was pushing his penis against it, can I get pregnant????

a week ago my bf and I had what we call "semi sex" (I was wearing my undies and shorts while he was pushing his bare penis on the surface of my shorts so I could still feel his penis pushing against my vagina) we are afraid that I may get pregnant that's why this is what we do. we've done this a lot of times already and I haven't gotten pregnant ever. now i am 5 days delayed of my period now and I am afraid that maybe the sperm was able to penetrate through the small fibers in my shorts & panty, this is my theory but can it be possible??? he was not able to penetrate me and his precum did not come into direct contact with my vagina since I was wearing my undies and shorts. but can it still be possible that i may get pregnant??? im getting paranoid. i have no one to talk to. please help!!!