Damaged undercarriage, Loud engine

So let me start off by saying I really don't deserve this Prius. It's done so well against many of my mistakes and beginner driving. But I fear this time I may have done some damage.

Long story short in order to avoid a collision I had to swerve to the right, landing me in a 3/4 meter high snow bank. In a panic, I quickly try to turn it in to maintenance mode. But it takes until I get out of it, with much veering, flooring and rocking, that I realize I've left the parking brake on (needs to be turned on for safety when activating maintenance mode) So I've already pulsed (throttle for second, let it die down) it up to 60km/h for about 2 minutes.

Next, I'm thinking even though it was shallow and it didn't go over any noticable curb and I didn't hear or feel anything, I scraped the underside. It seemingly performs as normal, but any time combustion engine kicks in, it makes a consistent sound. Inside it sounds like a vague windy sound from the front right, but outside it sounds like a diesel. I drove home in as much electric mode as I could use.

I don't have any way of getting underneath the car, but I tried to see what it was coming from and there's what seems to be two (potentially gaping/split) pieces of potentially vibrating metal.

I'll see if I can attach the video I took (not very helpful, angles and focus are poor) but does anyone have any idea what I've done to my poor Prius? Maybe diagram of the underside so I can point out where it was coming from?

 

It seemed quite large, almost like a plate of metal

 

Sounds right... Would a damaged converter have any noticeable symptom?

 

Next question; taking into account I drove it 20km with no issue other than sound, assuming the worst case damage (whatever that may be) based on these predictions, is it safe to drive another 10km to a toyota dealership?

 

Thanks. I'll keep you posted.

Here's the video, in case anyone is curious/can further identify.
Sorry, I was in a rush to get home. The video itself is not very helpful.
On re-listening, it almost sounds like its just metal rattling, no engine/exhaust.

 

Okay, as long as its not anything extremely critical. Thanks again, I'll keep you posted.

 

Ok! Mechanic showed me. Loose heat shield. They offered to put oversized washers on it but I opted for a new one since it looked pretty beat up anyway. They're taking it off for now since it's cold anyway and ordering a new one and attaching it next week.

Thanks for the help!

 

How else do I disable traction control? I doubt I could've gotten it out without doing that.