As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
No one has contracted HIV in the way you describe. HIV transmission only happens INSIDE the body - when an unprotected penis is inside a vagina or anus (or by sharing IV drug needles, and I assume you aren't doing that).
You had zero risk and do not need to test.