Wow, I think I would freak out but if you see no blood and everyone is acting 100% normal I think I would just wait and see.

When I was little my sister's poodle swallowed a sewing needle. It got lodged in his throat sideways and within a few hours it was obvious something was wrong with him. The vet removed it and he was okay, anyway, my point is I think if the glass caused any damage you would probably know pretty soon so keep a close eye on them. Fingers and paws crossed here that everyone is okay.