>a big innovation of HL2 was the extensive use of a real physics engine. The door and the guard are both physical objects, both have momentum, they impart an impulse on each other, and although the door hinge is frictionless, the guard's boots have some amount of friction with the floor.

It's been a while since I've played HL2 but this isn't exactly how I remember it. While a lot of things were physics objects I thought the doors would just smoothly rotate towards their target position without any physics at all. You can't bump them shut with another physics object for instance.