I assume you were already in a consensual relationship? If she was a stranger who snuck into your room or a non sex friend spending the night who did that then whether or not you enjoyed it, it would be called rape. Or rather non-consenual sex. Rape usually means rough sex, which can 100% be consensual. The issue I always have is whether or not a person wants the act performed. A sleeping person can't consent in the moment, but can give prior consent. A person can imply consent, i.e. "We are in a sexual relationship, so condoms aren't needed anymore" but it is better to confirm with a partner before crossing those lines. The old adage "Better to beg forgiveness than ask permission" shouldn't apply to relationships.