The Monocycle UVA10047

#include <iostream>
#include <cstdio>
#include <cstdlib>
#include <cmath>
#include <queue>
#include <algorithm>
#include <vector>
#include <cstring>
#include <stack>
#include <cctype>
#include <utility>   
#include <map>
#include <string>  
#include <climits> 
#include <set>
#include <string>    
#include <sstream>
#include <utility>   
#include <ctime>

using std::priority_queue;
using std::vector;
using std::swap;
using std::stack;
using std::sort;
using std::max;
using std::min;
using std::pair;
using std::map;
using std::string;
using std::cin;
using std::cout;
using std::set;
using std::queue;
using std::string;
using std::istringstream;
using std::make_pair;
using std::greater;
using std::endl;

int N, M;

bool vis[26][26][4][5];
char mp[27][27];

struct NODE
{
	int x, y, dir, col, dis;
};

int move_x[4] = {0, -1, 0, 1};
int move_y[4] = {-1, 0, 1, 0}; 

int bfs(int sx, int sy, int sd, int sc, int tx, int ty)
{
	NODE cur, temp;
	cur.x = sx;
	cur.y = sy;
	cur.dir = sd;
	cur.col = sc;
	cur.dis = 0;
	memset(vis, 0, sizeof(vis));
	vis[cur.x][cur.y][cur.dir][cur.col] = true;
	queue<NODE> que;
	que.push(cur);
	while(!que.empty())
	{
		cur = que.front();
		que.pop();
		if(cur.x == tx && cur.y == ty && cur.col == 0)
			return cur.dis;
		temp = cur;
		++temp.dis;
		temp.dir = (cur.dir+3)%4;
		if(!vis[temp.x][temp.y][temp.dir][temp.col])
		{
			vis[temp.x][temp.y][temp.dir][temp.col] = true;
			que.push(temp);
		}
		temp.dir = (cur.dir+1)%4;
		if(!vis[temp.x][temp.y][temp.dir][temp.col])
		{
			vis[temp.x][temp.y][temp.dir][temp.col] = true;
			que.push(temp);
		}
		int nx = cur.x+move_x[cur.dir], ny = cur.y+move_y[cur.dir];
		if(nx >= 1 && nx <= N && ny >= 1 && ny <= M && mp[nx][ny] != '#')
		{
			int nc = (cur.col+1)%5;
			if(!vis[nx][ny][cur.dir][nc])
			{
				vis[nx][ny][cur.dir][nc] = true;
				temp.x = nx;
				temp.y = ny;
				temp.dir = cur.dir;
				temp.col = nc;
				temp.dis = cur.dis+1;
				que.push(temp);
			}
		}
	}
	return -1;
}

int main()
{
	int n_case(0);
	bool println(false);
	while(scanf("%d%d", &N, &M), N || M)
	{	
		int sx, sy, tx, ty;
		
		for(int i = 1; i <= N; ++i)
		{
			scanf("%s", mp[i]+1);
			for(int j = 1; j <= M; ++j)
			{
				if(mp[i][j] == 'S')
				{
					sx = i;
					sy = j;
				}
				if(mp[i][j] == 'T')
				{
					tx = i;
					ty = j;
				}
			}
		}
		int ans = bfs(sx, sy, 1, 0, tx, ty);
		if(println)
			printf("\n");
		println = true;
		printf("Case #%d\n", ++n_case);
		if(ans == -1)
			printf("destination not reachable\n");
		else
			printf("minimum time = %d sec\n", ans);
	}
	return 0;
}