Duuude, you're a great dad and did nothing wrong.
I will guarantee you that van man is an abuser, of children, of animals, of people having fun in the rain with their kids... A big mistake everyone makes about people who loudly accuse others of some imagined wrong, is that the loud accuser is just someone who has their moral thermostat set too high. No. Loud judgemental people like van man (and nosy couple) are often even more guilty of the very thing they scream about. Watch Trump in action, as well as his followers, and you see exactly the dynamic I am referring to... deflection. It is highly effective, which is why they do it.