UVA 10047

# include<stdio.h>
# include<string.h>
# define maxn 26
struct
{
    int dir[4];
}vis[maxn][maxn][5];//还要记录颜色
struct Point
{
    int x,y;
    int dir;
    int time;
    int c;
}que[maxn*maxn*4*5];
int gox[4]={-1,1,0,0};
int goy[4]={0,0,-1,1};
int m,n;
int start_x,start_y;
char maze[maxn][maxn];
int  bfs()
{
   int front=0,rear=0;
   que[rear].x=start_x;
   que[rear].y=start_y;
   que[rear].dir=0;
   que[rear].time=0;
   que[rear].c=0;
   rear++;
   vis[start_x][start_y][0].dir[0]=1;
   while(front<rear)
   {
       struct  Point now=que[front++];
       if(maze[now.x][now.y]=='T'&&now.c==0)
       return now.time;
      // printf("%d %d %d %d\n",now.x,now.y,now.c,now.dir);
       int xx=now.x+gox[now.dir];
       int yy=now.y+goy[now.dir];
       if(xx>=0&&xx<m&&yy>=0&&yy<n&&!vis[xx][yy][(now.c+1)%5].dir[now.dir]&&maze[xx][yy]!='#')
        {
            que[rear].x=xx;
            que[rear].y=yy;
            que[rear].dir=now.dir;
            que[rear].time=now.time+1;
            que[rear].c=(now.c+1)%5;
            vis[xx][yy][(now.c+1)%5].dir[now.dir]=1;// 踏进一个格子 该方向，且该色彩就出现过
            rear++;
        }
        for(int j=1;j<3;j++)//不能往后转
        {
            int i=j;
            if(now.dir==2||now.dir==0)
                 i++;
            if(!vis[now.x][now.y][now.c].dir[(now.dir+i)%4]&&maze[now.x][now.y]!='#')
             {que[rear].x=now.x;
              que[rear].y=now.y;
              que[rear].time=now.time+1;
              que[rear].dir=(now.dir+i)%4;
              que[rear].c=now.c;
              vis[now.x][now.y][now.c].dir[(now.dir+i)%4]=1;
              rear++;
             }
        }
   }
   return 0;
}
int main()
{
    int kase=0;
    while(scanf("%d %d",&m,&n)==2&&m&&n)
    {

        memset(vis,0,sizeof(vis));
        for(int i=0;i<m;i++)
        {
          scanf("%s",maze[i]);
          for(int j=0;j<n;j++)
           if(maze[i][j]=='S')//大写S
          {
             start_x=i;
             start_y=j;
             break;
          }

        }
       if(kase)
       printf("\n");
       printf("Case #%d\n",++kase);
       int ans=bfs();
       if(ans)
       printf("minimum time = %d sec\n",ans);
       else
       printf("destination not reachable\n");
    }
    return 0;

}