Hello Good Evening,
There are nothing to worry, nil chances of getting pregnant through clothes or without any ejaculation, penetration, or actual intercourse .Pregnancy
depends on directly proper ejaculation of semen in the vagina by intercourse and during fertile period of woman.
Pre-cum has nil or very scanty amount of sperms, not possible to cause a pregnancy.
You case is totally infertile, because you had not any direct contact between your organs, and it is impossible to get conceive through air or clothes and even without a ejaculation.
So be relaxed.
Dr. Naresh Jain