Is HIV Transmission Possible Through Non Penetrative Sex?

Dear doctor S.Murugan, kindly help me in this matter. I am 32 year old male.3 days ago, I had a clothed frottage with one Asian woman. I was in the full dress (underwear+ trouser and west+ over hung shirt).She also was in full dress (cotton/or similar type jean+ blouse+ should be with underwear because she came from a shopping mall).I just knocked and rubbed my clothed genital area against her clothed buttocks and thighs only in standing and laying modes (me on top of her buttocks in laying mode).I discharged in my underwear when I was on her buttocks (laying mode).My discharged fluid had leaked up to my top trouser. I didn t see any wet spot on her cloth/jean over the buttock area. I saw one small wet drop on her thigh area and assumed it may have dropped/leaked from my top trouser (worst case, can assume as a damaged pimple of her).There was no any leaking, drops of her fluid or blood (assumable in worst case) onto my top trouser. Please note No skin to skin touch at all, no penetration at all, no other sex activity at all except touching her clothed breast and body. The complete process was happened in the full clothing. Dear doctor, I am in tension..am I on HIV risk? Am I on STD risk? I don t know her HIV status (let us assume she is positive). I will never do such a thing again. but please advise me. I am much worried