Stuck "Pass through the Titans core"?

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I have jumped through the demons mouth and made my way through several rooms with green teleporters. I have gone back and forth making sure I have killed everything in sight and I have. There are no enemies left to kill. I am stuck in a large room with a blue skill door. On the opposite side of the room is a door with 4 red skills and a area in the middle with loads if blood. No matter what I try to do I can't find anything to open the door. The market in the game suggests that the objective is on the other side but I can't get through the door. 

I have tried restarting the game and the checkpoint. I also tried getting killed and it doesn't work. Has the game glitched out on me?

DOOM
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I got stuck here too, I don't think it's a glitch though just poor level design. If you are standing at the blue door look across at the door with the red skulls on it. In the middle of the blood pool in the center look up to the left and you will see some armor. Make your way over to this armor and the door behind it opens up and you can go in here. There's a good bit of stuff to do including obtaining a yellow skull and a blue skull before you come back here. You return back through that door with the red skulls so if the door is still closed, it means you havnt progressed far enough yet.