Dry humping with only panties

Okay about two days ago my girlfirend and I were messing around and I was fingering her and as she says I gave her an orgasim. She was pretty wet, after she had her panties on and I had my you know what out and I was pushing against her vagina through her panties. We were only doing that for about five minutes not even that but I felt really aroused and it felt really good, so good it felt like I nutted. I checked after and there was nothing that I felt or smelled and no signs of pre cum so I did it for about 30 more seconds not thinking there was anything wrong. Afterwards she gave me a handjob and I went to the restroom and cleaned up then I had to leave. So after I left my gf went to check if I did and she found no sign of pre cum or cum on her panties and that was about 20 more minutes. My question is, is there any way she could be pregnant? Or do you think she is cause Im really freaking out!