Did I screw it up?

So I really liked this guy over the summer that I worked with at a sleepaway camp and I spent a lot of time with him, including our days off and we slept in the same bed everytime we stayed out on those days (we didn't sleep together or anything), but then on the last night of camp I hooked up with another guy while this guy was right there. I've talked to him about it and said I was sorry (even though we weren't/aren't dating but just because I felt bad) and he said it's not a big deal, but I still feel bad. Did I totally screw things up with him? HELP because I still like him!