The most likely damage would be bending the wheels. You'll need to check and make sure they are still "true". Turn bike upside down and spin wheel slowly. Whatch closely where it crosses the brakes. If you see it get closer then farther then closer to the brake pad, it is out of true. Off to the lbs you go. As for frame cracks, I'm not sure, but I believe you visually inspect the frame. That's it.
Glad to hear you didn't crash!! You took care of the most important componenet - you!