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");elseprintf("minimum time = %d sec\n", ans);}return 0;}