Yes most definitley negative. You don't need to concern yourself with this matter.
Continue to use condoms for anal and vaginal sex.
If the condom had broken you would have no about it, it is very obvious. It ends up as a fringed hoop around your penis. Your description is not of a broken condom.
You had protected penetrative sex which means that you are reliably HIV negative from this encounter.
You did the right thing by using a condom. When a condom is used correctly, and yours was, it protects you from HIV.
You did not have a risk and do not need to test over this incident.
One last thing. She use some fluid from some container to lubricate herself. Can this make condom have tear or hole? I never see a tear as sperm still there in tip. Excuse my language English bad coz I Malay.