It depends on how you take it and how you think it was in taking virginity or not. I would personally say it didn't take your virginity but what I think doesn't matter, what you feel does. I think he didn't because he was inside his underwear and didn't go directly inside you, or ejaculate inside you. Just mess around more clothed if this concerns you and discuss your concerns with your bf since he might not be able to hold off with his own urges if you play around this way again.
“The world would be a nicer place if everyone had the ability to love as unconditionally as a dog.”