How would I make a door that swings open when clicked?

Hello there. Currently I am trying to make a door that opens when the user clicks onto it. I attempted to use fromEulerAnglesXYZ() however this rotates the door from the centre, when doors open from the side. I then tried using constraints but I am fairly new to constraints so I didn't know how to script the door either. If anyone here can give me some indication of what I should do I would really appreciate it. Sorry if this question was stupid x.x