10 days ago, I went to a lap dance club, during this period a girl sited on my leg, rubbed her vagina against my penis about 2minutes. i weared pants and underwear, the girl weared jeans pants(assume also underwear inside). We did not take off the clothes all the time. Now I'm very worrying about her fluid(or maybe blood) can got through the pants and my underwear then touched my penis mucosa,if she was hiv, will i be infected? but I didn't see or feel fluid because of the light. When I came to the rest room I only found the inside of my underwear has some wet spots, not semen because I didn't ejaculated.
Doctors, I'm very scared now, can you explain to me whether I can be infected HIV? And why? Do I need a test?