If you don't want the cube to roll you can dampen it's angular velocity along x,y, or z axis. using:
dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z)
With doors consider:
The ...ForceAtPos and ...ForceAtRelPos functions take an extra position vector (in global or body-relative coordinates respectively) that specifies the point at which the force is applied. All other functions apply the force at the center of mass.
Oh goodie a new progie to play with!
dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z)
With doors consider:
The ...ForceAtPos and ...ForceAtRelPos functions take an extra position vector (in global or body-relative coordinates respectively) that specifies the point at which the force is applied. All other functions apply the force at the center of mass.
Oh goodie a new progie to play with!