The Monocycle

const int MAXN = 30;

struct Node
{
    int x, y, dir, step, time;
    Node (int a = 0, int b = 0, int c = 0, int d = 0, int e = 0)
    {
        x = a, y = b, dir = c, step = d, time = e;
    }
} tn;
//点的x坐标，y坐标，方向，车轮颜色
bool vis[MAXN][MAXN][4][5];
char m[MAXN][MAXN];
queue<Node> q;
int kase, a, b, ansx, ansy;

int dx[] = {-1, 0, 1, 0};
int dy[] = {0, 1, 0, -1};

void move(int nx, int ny, int nd, int ns, int nt)
{
    if (m[nx][ny] != ‘#‘ && !vis[nx][ny][nd][ns % 5])
    {
        vis[nx][ny][nd][ns % 5] = true;
        q.push(Node(nx, ny, nd, ns, nt));
    }
}

bool bfs(Node& ans)
{
    while (!q.empty())
    {
        ans = q.front();
        q.pop();
        if (ans.x == ansx && ans.y == ansy && ans.step % 5 == 0)
            return true;
        move(ans.x, ans.y, (ans.dir + 3) % 4, ans.step, ans.time + 1);
        move(ans.x, ans.y, (ans.dir + 1) % 4, ans.step, ans.time + 1);
        move(ans.x + dx[ans.dir], ans.y + dy[ans.dir], ans.dir, ans.step + 1, ans.time + 1);
    }
    return false;
}

int main()
{
//    freopen("in.txt", "r", stdin);
    int kase = 1;
    while (~RII(a, b) && a)
    {
        if (kase != 1) puts("");
        CLR(vis, false);
        CLR(m, ‘#‘);
        while (!q.empty()) q.pop();

        FE(i, 1, a) FE(j, 1, b)
        {
            cin >> m[i][j];
            if (m[i][j] == ‘S‘)
            {
                vis[i][j][0][0] = true;
                tn = Node(i, j, 0, 0, 0);
                q.push(tn);
            }
            else if (m[i][j] == ‘T‘)
                ansx = i, ansy = j;
        }
        printf("Case #%d\n", kase++);
        if (bfs(tn))
            printf("minimum time = %d sec\n", tn.time);
        else
            puts("destination not reachable");
    }
    return 0;
}