What Causes Blood In Urine And Urge To Urinate After Emptying Bladder?

Yesterday i was desperate to pee but no convenient toilet, so held it in and when i did get to go i noticed blood in my urine, plus for the next few hours it still felt like i had the urge to go even though my bladder had been emptied. Did holding it in too long irritate my bladder and then cause UTI-like symptoms? I feel fine today, pain has passed, no blood in urine, but would like to know what possibly caused the pain/blood yesterday so can avoid in the future. I am 38, 5'7, 55kg, no major health concerns and had 4 kids naturally. Thanks