TJUOJ2470 RobotMaze

import java.io.File;
import java.io.FileNotFoundException;
import java.util.Scanner;

public class RobotMaze {

static int[][] maze;
static int[][] queue;
static boolean[][][] isD;
static int[][] dir = new int[][] { { -1, 0 }, { 0, 1 }, { 1, 0 }, { 0, -1 } };
static int head;
static int tail;
static int minstep;

public static void main(String[] args) throws FileNotFoundException {
    // TODO Auto-generated method stub
    Scanner sc = new Scanner(System.in);
    sc = new Scanner(new File("files/robotmaze"));
    int T = sc.nextInt();
    for (int t = 0; t < T; t++) {
        int M = sc.nextInt();
        int N = sc.nextInt();
        minstep = M * N * 3;
        isD = new boolean[M + 1][N + 1][4];
        maze = new int[M + 2][N + 2];
        queue = new int[M * N * 10][4];
        for (int i = 0; i < M + 2; i++) {
            maze[i][0] = 0;
            maze[i][N + 1] = 0;
        }
        for (int i = 0; i < N + 2; i++) {
            maze[0][i] = 0;
            maze[M + 1][i] = 0;
        }
        char[] tmpr;
        int sx = 0, sy = 0;
        for (int i = 1; i < M + 1; i++) {
            tmpr = sc.next().toCharArray();
            for (int j = 1; j < N + 1; j++) {
                if (tmpr[j - 1] == '#')
                    maze[i][j] = 0;
                else if (tmpr[j - 1] == '.')
                    maze[i][j] = 1;
                else if (tmpr[j - 1] == 'S') {
                    sx = i;
                    sy = j;
                    maze[i][j] = 2;
                } else {
                    maze[i][j] = -1;
                }
            }
        }
        head = 0;
        tail = 0;
        queue[tail++] = new int[] { sx, sy, 0, 0 };
        BFS2();
        if (minstep == M * N * 3)
            System.out.println(-1);
        else
            System.out.println(minstep);
    }
}

private static void BFS2() {
    // TODO Auto-generated method stub
    while (true) {
        if (head == tail)
            return;
        int x = queue[head][0];
        int y = queue[head][1];
        int step = queue[head][2];
        int pdir = queue[head][3];
        int nx, ny, ndir;
        for (int i = 1; i < 4; i++) {
            ndir = (pdir + i + 2) % 4;
            if (ndir == pdir) {
                isD[x][y][ndir] = true;
                nx = x + dir[ndir][0];
                ny = y + dir[ndir][1];
                if (maze[nx][ny] == 1) {
                    maze[nx][ny] = 2;
                    queue[tail++] = new int[] { nx, ny, step + 1, ndir };
                } else if (maze[nx][ny] == -1) {
                    minstep = step + 1;
                    return;
                }
            } else if (!isD[x][y][ndir]) {
                queue[tail++] = new int[] { x, y, step + 1, ndir };
            }
        }
        head++;
    }
}

}

sample input:
3
5 5
#####
#…#
#.#.#
#S#T#
#####
4 5
#.#.#
#.#.#
#S#T#
#####
100 100
S………………………………………………………………………………………
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
……………………………………………………………………………………….
………………………………………………………………………………………T

sample output:
8
-1
200