I just watched the clip and thought what crap roadcraft, poor obs and post incident reaction. I would also say that the reaction by the driver was correct.
Approaching the Major Yorks roundabout from the A26, you correctly enter the right hand/straight over filter, then for some bizarre reason dive to the far right of the lane, instead of staying to the inner side/left of it.
You make no attempt to slow down at the approach, and would of clearly and easily seen that the driver of the red vehicle had not anticipated you speed. Instead of slowing down, you intentionally then choose to cycle aggressively towards the car, and even more stupidly illegally undertook for no reason on a pedestrian crossing.
You had every opportunity to safely slow down, not to undertake the car, and to avoided an incident of your own creation. I'd love to see the police reaction if you do forward it to them.
Carrying on riding like a twat, and someone will wipe you out, whether it be with a vehicle or fist, it will happen.