@Dosed,
Yes, you were raped. It doesn't matter if you were drunk, or on drugs. If you said no, even if you asked if he had a condom on, you didn't want sex, and he disregarded your wishes. It is unfortunate that you were drunk, but it might have happened like this:
You are on a date with a guy you don't know well, and while you are in the bathroom, he puts a crushed up narcotic in your drink. You end up passing out in his car and he has sex with you while incapacitated. If you cannot consciously and in full control of your cognitive function give consent to sex, it is rape.
I also question the motives and judgement of your "friend" who should have been looking out for you as well. I would never allow a man to have sex with a friend of mine in the backseat of my car while driving around. That is basically enabling and abetting the rape. I would tell this friend to get lost too.
You should seek counseling for this incident, and possibly attend an AA meeting or two.