Consent means both partners have a say in what they’re comfortable doing together.
If a person is drunk, asleep, or in another vulnerable position, the person is not able to give consent. If the person can’t actively respond with a “yes” to move forward, the physical interaction stops there.
You and your partner should feel free to say “yes” or “no” to your chosen physical activity (and its boundaries) without pressure.
Saying “yes” to one type of sexual contact doesn’t mean you (or your partner) consent to all types of sexual contact. Together, you get to decide what you’re both comfortable with and want to do together.