It sounds like you had an orgasm, or got very close to it.
There is nothing to feel guilty about. We keep masturbation private, but it is not something to be ashamed of. It is an excellent way for you to learn about your body and sexuality, and it is a very safe way to deal with your sexual urges. You cannot use your sexual pleasure up. Doing it by yourself does not affect your ability to do it with a partner. Once you get a partner, you will anyways find out that most women do not orgasm from just intercourse. It is just not that easy unless you are lucky.
Masturbating will actually teach you how your body and sexuality works, and it will help you to be better with your partner.
If keeping your hymen intact is important (and it sounds like it is), keep your fingers out of your vagina. Just keep on rubbing your clitoris.
The racing breathing, racing heart, warm 'explosion', sounds and shaking of your body and muscles are normal. Just remember to keep on breathing

. Sometimes we get so caught up that we hold our breath.
With all this said, you do not have to masturbate. You will be perfectly fine if you do not do it, just like you will be perfectly fine if you do masturbate. Most women do, some don't. The choice is your's to make. Whatever you decide, there is no reason to feel guilty.
Take care!