Is it normal to masturbate with my roommates panties

Well I have a crush on my roommate. Nothing has ever happened beyond harmless flirting. One week I wanted to do laundry but her clothes were in the dryer. I let it go for a couple of days before I really had to get my clothes washed. Hers were still in the dryer so I started to unload them into the basket. In the mix were her panties and I just had a sudden urge to jerk off. I wrapped them around myself and was very turned on and it only took about a minute. When I was done I put them into her basket. The next day I knew she was wearing those panties. Is that urge normal?