I am real happy that you're not hurt any worse than you are but like Mark suggested.......go get checked out. My personal experiences (several times) is the second day let's you know you were hurt more than you thought.....the third day is it hurts a hell of a lot worse than it did the first day.
Go get checked out.....that's why we have insurance and hopefully he has his, also.
Also, don't spend time getting caught up in the mind snot.....thinkin well, if I'd have done this or that maybe it wouldn't have happened. In those spur of the moment decisions, it doesn't much matter what our logical mind thinks, instincts and reaction take over. Hopefully we have enough training and experience that we'll come out of a given situation better than somebody that doesn't have the training or experience.