A Retail Shift I'll Never Forget

So this happened a few weeks ago and it’s been gnawing at me ever since. It was just another day at the store, until I met her. She walked in wearing these killer heels and a skirt that barely covered her ass, looking around as if she were hunting for something specific. And yeah, I noticed, who wouldn’t? But there's more to it than that. We hit it off right away; turns out we had some mutual friends from college and started chatting about old times. Then the shift got really weird. I'm not sure what triggered it, but halfway through our conversation she suddenly leaned over a shelf to grab something, giving me an eyeful of her underwear. The bra was barely there, and I mean barely, you could tell the fabric had seen better days. That's when my mind started going places. And then she did too. She came back over with this look in her eye that said 'let’s take this somewhere more private,' if you catch my drift. The manager was at lunch, and we didn't have another worker on until later, so the opportunity seemed right. Before I knew it, we were locked up in a storeroom, clothes coming off faster than a speeding bullet. Now, this is where I need your help, I feel guilty about breaking company rules, but also excited that it happened (don't tell HR). Was I the asshole for letting my hands wander? She seemed into it as much as I was. But here's another weird thing, after we were done and she left, I found myself looking at all of the other women who came in to shop like they could be mine too. It was like an overwhelming urge that just wouldn’t go away. So what do you think? Did I overstep my boundaries as a retail employee or should I take this as a sign and quit so I can live out these fantasies full-time? (And yes, she did leave her number for me on purpose.)