I'm feeling scared

I realise now I committed a sexual consent violation. My ex saidcshecwasnt in the mood and I touched her intimately and said ill get you in the mood thinking if inspiring the mood and she went along with it and participated in fourplay with me but later said I sexually abused her. I feel terrible about this. I didn't see whay ive doen as wrong but now I see how it is a consent violation. I feel like a monster