I shall quote the law...
Sexual offences act 2003
A person (A) commits and offence if
(a) He intentionally penetrates the vagina,anus or mouth of another person (B) with his penis,
(b) B does not consent to the penetration and
(c) (A) does not reasonably believe that (B) consents
Now the question in this case is not as to whether penetration occurred as clearly that appears to be the case.
The question is, did he reasonably believe that you consented? How could he reasonably believe it if you were intoxicated? Were you in a fit state to consent?
I believe there is a suspicion of rape at least.
If you firmly believe that that was the case, then make a complaint.
I have been a juror in a rape case. You must be convinced and sure because you will have to face the posturing of a defence barrister.