I have so many Ws on my transcripts, at least 1 F, a couple Ds, some Cs, and yet I'm in dental school. A 3.4 and 3.2 paired with a 22+ and nothing below an 18 academically should be OK provided you have the ECs, PS, get interviews, and ace them.
The thing I want you to know is that no matter how badly things feel or seem to be going now is that the perception of hardness or difficulty is always relative. When you succeed and look back, you'll appreciate how much effort you had to put in to be where you are and wouldn't want it any other way. I know how much it sucks to work yourself to the bone and not have concrete results.
One bad semester won't sink you. I had several rough years... you'd be surprised at how understanding schools can be when they see how you have handled those situations and if you have made meaning from them and still accomplished something during those times. I don't have a degree in any kind of counseling, but I'm happy to lend my ears and perspective if you'd like someone to talk to who won't judge you but will try to offer suggestions that might be compatible or feasible given your situation.