I'm sure you already know how to get on the door. The jump after that is just a matter of timing the jump almost perfectly at the edge. Also you have to do a couple of back and forward steps before to have running speed to do a long jump.

There really is no easy way to do it, just practise it and learn the jump timing. Angle doesn't matter too much, as long as you don't jump past the pillar, or hit the other pillar that is on the right side.

Even at best I get it maybe every other time, since it's pretty much frame perfect jump.