HDU 2102 A计划 BFS

#include<iostream>
#include<string>
#include<string.h>
#include<stdio.h>
#include<math.h>
#include<queue>
#include<algorithm>
using namespace std;
int n,m,T,di,dj,ok,f;
char mapp[2][15][15];
int vis[2][15][15];
struct node{
    int x,y;
    int step;
    int floor; //在第几层
    friend bool operator < (node a,node b){

        return a.step > b.step;  //升序
    }
};
int dir[4][2]={{1,0},{0,1},{-1,0},{0,-1}};
priority_queue<node> pq;
void bfs(){
    node temp,next;
    int s,d;
    while(!pq.empty()){
        temp=pq.top();
       // cout<<temp.floor<<" "<<temp.x<<" "<<temp.y<<" "<<temp.step<<endl;
        pq.pop();
        if(temp.step>T) {break;}
        if(temp.x==di&&temp.y==dj&&temp.step<=T&&temp.floor==f)
        {
            ok=1;
            break;
        }
        if(mapp[temp.floor][temp.x][temp.y]=='.'){
         for(int i=0;i<4;i++){
            s=temp.x+dir[i][0];
            d=temp.y+dir[i][1];
           if(s>=0&&s<n&&d>=0&&d<m&&vis[temp.floor][s][d]==0&&mapp[temp.floor][s][d]!='*'){
               vis[temp.floor][s][d]=1;
               next.floor=temp.floor;
               next.x=s;
               next.y=d;
               next.step=temp.step+1;
           //    cout<<temp.floor<<" "<<s<<" "<<d<<" "<<next.step<<"  是. "<<endl;
               pq.push(next);
           }
        }
        }if(mapp[temp.floor][temp.x][temp.y]=='#'){
            int ff=(temp.floor+1)%2;
            if(mapp[ff][temp.x][temp.y]!='*'&&vis[ff][temp.x][temp.y]==0){
                vis[ff][temp.x][temp.y]=1;
                next.floor=ff;
                next.x=temp.x;
                next.y=temp.y;
                next.step=temp.step;
              //  cout<<ff<<" "<<temp.x<<" "<<temp.y<<" "<<temp.step<<" 是 # "<<endl;
                pq.push(next);
            }
        }


    }
}
int main(){
    int t;
    cin>>t;
    while(t--){
        cin>>n>>m>>T;
        memset(vis,0,sizeof(vis));
        while(!pq.empty()) pq.pop();
        ok=0;
        for(int i=0;i<n;i++)
            for(int j=0;j<m;j++){
                cin>>mapp[0][i][j];
                if(mapp[0][i][j]=='P'){di=i;dj=j;f=0;}
            }
         for(int i=0;i<n;i++)
            for(int j=0;j<m;j++){
                cin>>mapp[1][i][j];
                if(mapp[1][i][j]=='P'){di=i;dj=j;f=1;}
            }
        node tt;
        tt.x=0;tt.y=0;tt.step=0;tt.floor=0;
        mapp[0][0][0]='.';
        vis[0][0][0]=1;
        pq.push(tt);

        bfs();

        if(ok) cout<<"YES"<<endl;
        else  cout<<"NO"<<endl;
    }
    return 0;
}