Is There A Risk Of HIV Transmission If I Ejaculated During A Body-to-body Massage While The Masseuse Wore Underwear?

Hi Doctor, I went to b2b massage service. I was naked. But she wore bra and underwear. Her body layed on me and rubbed me. I ejaculated. I am worrying that HIV will transmit through her underwear to my penis. I don t know the thickness of the underwear. Is it possible in that case?