From What I Have Heard Sperm Cannot Go Through Clothing

From what i have heard sperm cannot go through clothing but just to ease my mind i have decided to ask a professional on the situation. So hear is my story. Me and my girlfriend were messing around, things progressed and I wound up penatrating her through her panties. I had no condom and of course since she had her panties on I could not fully penatrate her. Although I did not ejaculate I know pre cum can be just as precocious so my question to be is can she get pregnant do to said actions?