UVA 10047 The Monocycle(BFS)

#include<iostream>
#include<cstdio>
#include<cstring>
#include<algorithm>
#include<queue>
using namespace std;
const int maxn=25+5;
struct node{
    int x,y,d,c,t;
};
int dx[4]={-1,0,1,0};
int dy[4]={0,-1,0,1};
char map[maxn][maxn];
int vis[maxn][maxn][5][5];
int r,c;
int sx,sy,ex,ey;
#define rep(i,a,b) for(int i=(a);i<=(b);i++)
#define ss(x) scanf("%d",&x)
void findsorce(){
    rep(i,1,r) rep(j,1,c) if(map[i][j]=='S') {sx=i;sy=j;return ;}
}
void findsink(){
    rep(i,1,r) rep(j,1,c) if(map[i][j]=='T') {ex=i;ey=j;return ;}
}
int change_diret(int d,int i){
    return (d+i+4)%4;
}
bool inside(int x,int y)
{
    return x>=1&&x<=r&&y>=1&&y<=c;
}
void findpath()
{
    memset(vis,0,sizeof(vis));
    queue<node> q;
    vis[sx][sy][0][0]=1;
    q.push((node){sx,sy,0,0,0});
    while(!q.empty())
    {
        node last=q.front();q.pop();
        if(last.x==ex&&last.y==ey&&last.c==0) {printf("minimum time = %d sec\n",last.t);return ;}
        int x=last.x,y=last.y,d=(last.d+1+4)%4,c=last.c,t=last.t+1;
        if(!vis[x][y][d][c]) {vis[x][y][d][c]=1;q.push((node){x,y,d,c,t});}
        d=(last.d-1+4)%4;
        if(!vis[x][y][d][c]) {vis[x][y][d][c]=1;q.push((node){x,y,d,c,t});}
        d=last.d;
        x+=dx[d];y+=dy[d];c=(last.c+1)%5;
        if(inside(x,y)&&map[x][y]!='#'&&!vis[x][y][d][c]) {vis[x][y][d][c]=1;q.push((node){x,y,d,c,t});}
    }
    printf("destination not reachable\n");
}
int main()
{
    int kase=0;
    while(true)
    {
        ss(r);ss(c);if(r+c==0) break;
        rep(i,1,r) scanf("%s",map[i]+1);
        findsorce();
        findsink();
        if(kase) printf("\n");
        printf("Case #%d\n",++kase);
        findpath();
    }
    return 0;
}