How did they film this scene in Casino Royale?

In Casino Royale when he's chasing that guy on the fuel truck at the airport theres a bit where Daniel Craig is holding onto the truck so the guy tries to smash him into an oncoming truck. When he dives off he just narrowly missed the oncoming truck. It doesn't look like CGI but it also looks really dangerous and its one continuous shot. Also how did they shoot the black guy jumping from one crane to another, that was also a continuous shot.