HIV cannot be transmitted out of the body, even contacting body fluids, as the virus doesn't survive for so long in air, and in 40 years there has never been a single case of infection through an external surface.
Sexual fluids can transmit gonorrhea, chlamydia, syphilis and herpes if those fluid entered your urethra. Herpes and syphilis can also be spread through fingering. I don't think those body fluids went through your clothes and reached your urethra, but it would always be interesting to test.
-3 weeks after the encounter, for gonorrhea and chlamydia.
-6 weeks after the exposure, for syphilis. If it's negative, repeat the test 3 months after the encounter, as there are people that take longer to show a positive result.
-3 months after the encounter, for herpes.
All the best.