Thanks guys. Turns out the car is fine. I will need to have a new exhaust bracket made in the new year as the old one broke off but the car is sound and should pass it's MOT tomorrow.
As if my experience wasn't scary enough, my future father in law was hit by a car this morning. Some girl wasn't paying attention and she drove at him, if it weren't for his quick thinking and wife shouting at him, things would of been very different tonight. He got away with just a small bruise to his leg and a bit of shock.