Dry Humping and Pregnancy Risks

So while I have read the section on here about dry humping and pregnancy, and I understand that sperm can not travel through things like jeans and such; I still have a question.
My boyfriend and I were being romantic together and we both knew the we didn't have protection. I don't take the pill/hormones for medical reasons and neither of us picked up condoms as the escapade wasn't exactly planned. So instead of having sex we grinded. Now as I stated before I understand that in the cases I read pregnancy was impossible, but in those cases the two parties were clothed. I also know that when naked genitals run together without penatration it can cause pregnancy.

Now my situation is neither of these. I was naked while we grinded and he had on boxers and flimsy pj pants. He did climax, and at the time (about a week ago) I didn't think about it, and his pants were wet (from him or me I don't know). Now we sort of stayed like that for a while while he recovered then curled up to sleep.
Now basically could that have caused pregnancy? I can't really rely on "missing" a period to worry me as I miss them frequently due to stress and such (college just resumed from summer break), but so far my cycle has been 42 days long which is a little odd but not too bad or concerning for me.
Anyways sorry for the long winded question.
-First Timer

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