Was It Really Consent?

I was working in a fast food restaurant, my first ever job at 16 and there was a woman who worked with me in the kitchen who was 22 and very hot and she started to be very friendly with me. But then she started to express an interest in some pretty bizarre sexual fantasies and one day she told me that she wished some hot young kid like me would just r*pe the shit out of her. I told her I don't do things to people against their will and she asked if I would just pretend so we made a date and I went over her house and snuck into her bedroom window and got into bed with her and did as she had told me she fantasized. She screamed and complained while I did it and then when I was done she was crying and then she turned on the lights and it wasn't her. the women looked at me and smiled and despite the tears, said that was the best sex ever and asked how I knew that was her wish. I was completely confused and weirded out. I told her about the woman I worked with and she said she was friends with that woman and said she must have set us up. I was still scared I would go to jail and she said she wouldn't call the police if I would come back next week and do it again. She was 36 and also hot so I said what the fuck.

We ended up dating for a year but then she started acting really crazy so I had to break up with her.

Did I really r*pe her if she forgave me and asked for more? Was it my fault that I was set up? Could I still go to prison if she decided to press charges?