A neighbor visited me , although we were close so

A neighbor visited me , although we were close so close for her to decide to come my room to spend the night because of the high rate of thief in the street.so around 2:40am I noticed she is wet so I pull off her underwears, so when I started thrusting she woke up(although I didn’t want to do it in the first place but I think I found my sef in a situation in which I had to do it)so she woke up and left my room crying and ashamed.i felt embarrassed I started begging her but she said I should not talk to her neither greet her and I didn’t want the issue to escalate.then my fifth sense brought back this sucide thought.i won’t lie to u I liked her alot but bcus we are neighbors I can’t ask her out.i don’t know what to do