BSF truck damaged my car - what could I have done?

I was driving in some heavy Gurgaon traffic yesterday. There were a couple of trucks in the nearby left lane, one in front and one behind me. The one behind me kept moving in my direction slowly. Despite noticing it early enough, I could not swerve to the right in the crawling traffic because there was no space in the lane towards my right.

The truck came to a relatively quick stop after driving into my car. It grazed the left of my car, scratching the rear door and denting the front door. While I kept signalling the truck to move towards the road shoulder so that we could check damages, it quickly moved ahead and didn't stop. Only when it crossed me, I noticed that it is an army vehicle. I took a picture of the registration number. After reaching home, I searched and found out that it was a BSF vehicle. Is there a way to recover damages? Would it be worth filing for insurance or shall I get it repaired myself in a body shop?

Also, I am a relatively new driver with ~6k km under my belt. This is my first accident where car has been visibly damaged. Could I have done anything differently to avoid this?