diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index 3b49216..ca24220 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -1,4 +1,5 @@
 use std::cmp::min;
+use std::collections::HashMap;
 use std::ptr;
 
 use macroquad::prelude::*;
@@ -99,10 +100,10 @@ impl Food {
         (&self.pose, &self.collider)
     }
 
-    fn detect<'a>(&self, things: impl Iterator<Item = (&'a Pose, &'a dyn Shape)>) -> Option<f32> {
+    fn detect<'a>(&self, things: impl Iterator<Item = &'a Robot>) -> Option<Color> {
         things
-            .map(|thing| contact(&self.pose, &self.collider, thing.0, thing.1, 0.0).unwrap()).flatten()
-            .map(|contact| contact.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
+            .map(|robot| contact(&self.pose, &self.collider, &robot.pose, &robot.collider, 0.0).unwrap().map(|a| (a,robot.team))).flatten()
+            .map(|(contact,team)| (contact.point1.distance(self.pose.translation),team)).reduce(|x ,y| if x.0 < y.0 {x} else{y} ).map(|(_, team)| team)
     }
 }
 
@@ -112,9 +113,11 @@ async fn main() {
 
     let mut robots = Vec::new();
 
+    let mut score = HashMap::new();
+
     for i in 5..20 {
         robots.push(Robot::new(Vec2 { x: 150.0, y: i as f32*50.0 }, RED));
-        robots.push(Robot::new(Vec2 { x: 850.0, y: i as f32*50.0 }, BLUE));
+        robots.push(Robot::new(Vec2 { x: 1150.0, y: i as f32*50.0 }, BLUE));
     }
 
     let mut food = Vec::new();
@@ -125,21 +128,28 @@ async fn main() {
     food.push(Food::new(Vec2 { x: 460.0, y: 400.0 }));
     food.push(Food::new(Vec2 { x: 260.0, y: 400.0 }));
 
-    for j in 10..30 {
+    for j in 5..50 {
         for i in 5..20 {
             food.push(Food::new(Vec2 { x: i as f32*60.0, y: j as f32*50.0 }));
         }
     }
 
+    fn color_hash(color: Color) -> [u32; 4] {
+        color.to_vec().to_array().map(|f| f.to_bits())
+    }
+
 
     let mut loo = 0;
     loop {
         clear_background(LIGHTGRAY);
 
         for food in &mut food{
-            if let Some(detect_robot) = food.detect(robots.iter().map(Robot::collider)) {
-                println!("robot detected in contact");
-                food.alive = false;
+            if let Some(team) = food.detect(robots.iter()) {
+                if food.alive {
+                    score.entry(color_hash(team)).and_modify(|s| *s +=1 ).or_insert(1);
+                    println!("robot detected in contact");
+                    food.alive = false;
+                }
             }
             food.draw();
             // TODO: die upon collision with robot
@@ -178,7 +188,8 @@ async fn main() {
             robot.policy(&sensors[idx]);
             robot.draw();
         }
-        draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);
+        draw_text(format!("RED: {}", score.get(&color_hash(RED)).unwrap_or(&0)), 20.0, 20.0, 30.0, DARKGRAY);
+        draw_text(format!("BLUE: {}", score.get(&color_hash(BLUE)).unwrap_or(&0)), 20.0, 90.0, 30.0, DARKGRAY);
         loo += 1;
         if loo %2 == 0 {
             next_frame().await // TODO: framerate cap