Who's at fault?

I work for an insurance company dealing with these type of claims. Not an unusual set of circumstances and one where liability will likely be found on both parties. Relevant case law is Powell -v- Moody which went 80% against the overtaking party although if your lucky you might get 50/50 depending on what witness evidence etc there might be supporting either you or the motorist.
You certainly have a claim for the damage/repairs to your bike and also any injuries - however be prepared as you could be presented with a claim for the cost of any repairs to the car which is fine if you have your own insurance cover but otherwise you would be personally liable to pay.
As you say most important thing is you weren't more seriously hurt - good luck with getting this sorted out - might be worth phoning the insurance company (the driver has a legal obligation to provide his details) - most are quite receptive to dealing direct especially if they can avoid paying lawyers fees.

I found a decent summary of the relevant case law, and it looks like you would be held partially at fault. Seek legal advice. IANAL.

The driver should have ensured that the major road he was entering was clear of proceeding traffic (i.e. you) (HC170/172). On the other hand you were overtaking blind into a stretch of road where you couldn't see potential hazards (HC162: Before overtaking you should make sure: the road is sufficiently clear ahead; there is a suitable gap in front of the road user you plan to overtake. HC166: DO NOT overtake if there is any doubt, or where you cannot see far enough ahead to be sure it is safe and HC167: Do not overtake where you might come into conflict with other road users.).

In urban traffic, it pays to be paranoid, to anticipate and plan for risks that you can't yet see, and to undertake maneuvres which you can reasonably anticipate being able to complete safely. And I do do lots of filtering at fairly quick speeds (17-25mph) when it's safe to do so. Not around junctions though, and not where I can't see what's behind a slow moving or stationary vehicle.

I'd say 50/50.

You say you're hazy on the rules of the road. It's worth learning them. It's also worth reading up on cycling - and you might have been more wary of this happening. Next time it coukd be worse.

Sounds pretty much 50/50 to me. The driver should be wary of pulling out, you should be wary when passing stationary traffic. I once nearly got hit under similar circumstances - passing on the left of stationary traffic a car in front left a gap for an oncoming car to turn right through the queue. It certainly woke me up to the dangers of filtering like that.

Overtaking a queue probably does put you at fault. See highway code 167. https://www.gov.uk/using-the-road-159-to-203/overtaking-162-to-169

But you certainly can ask for their details, although you might get blamed for the scratches down their bonnet. I suspect it would go 'knock for knock' eventually.

I could be wrong but as far as I understand it you are not primarily at fault.

It is the responsibility of the vehicle entering the major road from the minor road to ensure that he can do so safely. This responsibility remains his even if he is 'waved out' by a motorist on the major road; he cannot shift the responsibility to any other party.

Your claim is against him and his insurance. Now remember at the beginning where I said "you are not primarily at fault'? Here is where you are going to probably get into a fight. As you were also moving they may try to argue that you have to share the blame. Stand your ground but you may have to get a solicitor involved at this point.

Hope this helps, good luck.

Driver is meant to check both ways before pulling out of a junction, and not rely on being waved out as an indication it is safe to do so.