uva10047(未AC)

#include<bits/stdc++.h>
using namespace std;

struct Node{
    int x, y, d, c;
    Node(int x = 0, int y = 0, int d = 0, int c = 0):x(x), y(y), d(d), c(c){}
    bool operator==(const Node& node)const{
        return node.x == x && node.y == y && node.c == c;   //direction is not needed.
    }
};

const int maxn = 25 + 3;
int R, C;
char maze[maxn][maxn];
int vis[maxn][maxn][4][5];

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

int solve()
{
    Node S, T;
    for(int i = 0; i < R; i++){
        for(int j = 0; j < C; j++){
            char ch = maze[i][j];
            if(ch == '.' || ch == '#') continue;
            if(ch == 'S') S = {i, j, 0, 0};
            else T = {i, j, 0, 0};
        }
    }
    memset(vis, -1, sizeof(vis));
    vis[S.x][S.y][S.d][S.c] = 0;
    queue<Node>q;
    q.push(S);
    while(!q.empty()){
        Node u = q.front(); q.pop();
        int x = u.x, y = u.y, d = u.d, c = u.c;
        if(T == u) return vis[x][y][d][c];

        int v = vis[x][y][d][c] + 1;
        //go head
        int xx = x + dx[d], yy = y + dy[d];
        if(xx >= 0 && xx < R && yy >= 0 && yy < C && maze[xx][yy] != '#' && vis[xx][yy][d][c] == -1){
            vis[xx][yy][d][(c+1)%5] = v;
            q.push(Node(xx, yy, d, (c+1)%5));
        }
        //turn, clockwise
        if(vis[x][y][(d+1)%4][c] == -1) {q.push(Node(x, y, (d+1)%4, c)); vis[x][y][(d+1)%4][c] = v;}
        if(vis[x][y][(d+3)%4][c] == -1) {q.push(Node(x, y, (d+3)%4, c)); vis[x][y][(d+3)%4][c] = v;}
    }
    return -1;
}

int main()
{
    int cnt = 0;
    while(cin >> R >> C && R){
        for(int i = 0; i < R; i++){
            scanf("%s", maze[i]);
        }
        if(++cnt != 1) printf("\n");
        int ans = solve();
        if(ans == -1) printf("Case #%d\ndestination not reachable\n", cnt);
        else printf("Case #%d\nminimum time = %d sec\n", cnt, ans);
    }
    return 0;
}

/*
3 1
T
.
S
*/