When I was knocked off nearly 3 years ago on a roundabout, I didn't call the police. Driver was fine (more shock than me) I got up, bike was OK (MTB don't pick on an MTB), I was a bit knocked up.
Phoned driver to say I'd made it home, phoned police who confirmed it wasn't necessary to report, but I could pop into a station, which I did and it was just logged. Both parties played ball. That said it's 3 years and ongoing, driver fault admitted straight away, but long term injuries are a big problem, despite walking (cycling) away from the accident.
To the OP get yourself checked out by your GP (record on file) - mine sent me straight for xrays. Pay attention to any joint problems - shoulders, elbow and hips.
Take bike to LBS for quote - driver might have heart attack when bill lands. Hopefully damage will get covered by his insurers. If there is injury, then you need a solicitor.
See if home insurance has legal advice cover (if needed). If you haven't got CTC or BC insurance, then it's time to think about it if you cycle regular (also provides third party cover if you hit someone/something - wing mirrors aren't cheap).