Yes.
It is possible to have been raped or otherwise sexually assaulted without experiencing any physical pain immediately afterwards.
Get a full sexual health checkup for std's and a pregnancy test.
Try to have some blood tests done.
If your drink was spiked with an illegal substance or noxious chemical, it is most likely that it would have been out of your blood stream within a few hours of ingestion.
That's why it is so important for hospitals and all medical facilities that provide any medical treatment to offer blood tests for those who they suspect may have been spiked or suspect that they might have being drugged/spiked and ask to be tested.
Alas, very few doctors and medical facilities are willing to routinely provide these tests unless requested to do so by the police or a law enforcement agency.