以下是一个使用Ammo.js进行旋转运动学的示例代码：

// 导入Ammo.js
import * as Ammo from 'ammo.js';

// 创建物理世界
const collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
const dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
const overlappingPairCache = new Ammo.btDbvtBroadphase();
const solver = new Ammo.btSequentialImpulseConstraintSolver();
const dynamicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
dynamicsWorld.setGravity(new Ammo.btVector3(0, -9.8, 0));

// 创建刚体
const mass = 1; // 物体的质量
const startTransform = new Ammo.btTransform();
startTransform.setIdentity();
const shape = new Ammo.btBoxShape(new Ammo.btVector3(1, 1, 1)); // 使用立方体作为形状
const localInertia = new Ammo.btVector3(0, 0, 0);
shape.calculateLocalInertia(mass, localInertia);
startTransform.setOrigin(new Ammo.btVector3(0, 10, 0)); // 设置物体的初始位置
const motionState = new Ammo.btDefaultMotionState(startTransform);
const rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, shape, localInertia);
const body = new Ammo.btRigidBody(rbInfo);
dynamicsWorld.addRigidBody(body);

// 创建旋转运动学对象
const angularVelocity = new Ammo.btVector3(0, 0, 1); // 设置旋转速度
body.setAngularVelocity(angularVelocity);

// 更新物理世界
function updatePhysics() {
    dynamicsWorld.stepSimulation(1 / 60, 10); // 更新物理世界的状态，参数为帧率和迭代次数

    const transform = new Ammo.btTransform();
    body.getMotionState().getWorldTransform(transform);
    const origin = transform.getOrigin();
    const rotation = transform.getRotation();
    
    console.log('物体位置：', origin.x(), origin.y(), origin.z());
    console.log('物体旋转：', rotation.x(), rotation.y(), rotation.z(), rotation.w());

    Ammo.destroy(transform);
}

// 循环更新物理世界
function animate() {
    requestAnimationFrame(animate);
    updatePhysics();
}

animate();

这个示例代码演示了如何使用Ammo.js创建物理世界、添加刚体、设置初始位置和旋转速度，以及更新物理世界并获取物体位置和旋转信息。你可以根据自己的需求进行修改和扩展。