(起死回生)ABC D求调

#include<bits/stdc++.h>
#define int long long
using namespace std;
const int N=1e3+5;

string s[N];
int a[N][N];
int vis1[N][N],vis2[N][N];
int sx,sy,tx,ty;
struct node{
	int x,y;
	int num;
	int last;
	int type;
};
int rx[5];
int ry[5];
void bfs()
{
	queue<node> q;
	node st;
	st.x=sx,st.y=sy,st.num=0,st.last=2,st.type=0;
	q.push(st);
	vis1[sx][sy]=1;
	vis2[sx][sy]=1;
	while(!q.empty())
	{
		node tp=q.front();
		q.pop();
		int xx=tp.x,yy=tp.y,nn=tp.num,last=tp.last,type=tp.type;
//		cout<<xx<<" "<<yy<<" "<<nn<<" "<<last<<endl;
		if(type==1)vis1[xx][yy]=1;
		else if(type==2) vis2[xx][yy]=1;
		if(xx==tx&&yy==ty)
		{
			cout<<nn<<endl;
			exit(0);
		}
		int dir=0;
		for(int i=1;i<=4;i++)
		{
			if(i==1||i==2)
			{
				if(last==1) continue;
				dir=1;
				if(type==0) type=1;
			}
			if(i==3||i==4)
			{
				if(last==0) continue;
				dir=0;
				if(type==0) type=2;
			}
			int tox=xx+rx[i],toy=yy+ry[i];
			if(type==1)
			{
				if(a[tox][toy]==1&&!vis1[tox][toy])
				{
					vis1[tox][toy]=1;
					node ad;
					ad.x=tox;
					ad.y=toy;
					ad.num=nn+1;
					ad.last=dir;
					ad.type=type;
					q.push(ad);
				}
			}
			else
			{
				if(a[tox][toy]==1&&!vis2[tox][toy])
				{
					vis2[tox][toy]=1;
					node ad;
					ad.x=tox;
					ad.y=toy;
					ad.num=nn+1;
					ad.last=dir;
					ad.type=type;
					q.push(ad);
				}
			}
		}
	}
	cout<<-1<<endl;
}

signed main()
{
	int x,y;
	cin>>x>>y;
	rx[1]=0,ry[1]=1;
	rx[2]=0,ry[2]=-1;
	rx[3]=1,ry[3]=0;
	rx[4]=-1,ry[4]=0;
	for(int i=1;i<=x;i++)
	{
		cin>>s[i];
		for(int j=1;j<=y;j++)
		{
			if(s[i][j-1]=='.')a[i][j]=1;
			else if(s[i][j-1]=='#') a[i][j]=0;
			else if(s[i][j-1]=='S') 
			{
				sx=i,sy=j;
				a[i][j]=1;
			}
			else
			{
				tx=i,ty=j;
				a[i][j]=1;
			}
		}
	}
	bfs();
	return 0;
}