Guys, Do you think it's cheating? Can I ever trust him again?

My boyfriend went to work at a summer camp and he confessed to me that he cuddled and fell asleep with another girl. I broke up with him because he broke my trust but he said he doesn't think what he did was cheating, but realized what he did wrong later after it happened. He explained to me why he did it and why it has nothing to do with me, etc. but I just want some insight on why a guy would do this... I'm having trouble believing it all and it doesn't make sense to me. We dated for almost 3 years. I don't know if I would ever take him back, even though we really love each other.

Guys, Do you think it's cheating? Can I ever trust him again?
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