Javascript 3D Create Joint Objects

createJointObjects.js

function createJointObjects(){
    
    let pos1 = {x: -1, y: 15, z: 0};
    let pos2 = {x: -1, y: 10, z: 0};

    let radius = 2;
    let scale = {x: 5, y: 2, z: 2};
    let quat = {x: 0, y: 0, z: 0, w: 1};
    let mass1 = 0;
    let mass2 = 1;

    let transform = new Ammo.btTransform();

    //Sphere Graphics
    let ball = new THREE.Mesh(new THREE.SphereBufferGeometry(radius), new THREE.MeshPhongMaterial({color: 0xb846db}));

    ball.position.set(pos1.x, pos1.y, pos1.z);

    ball.castShadow = true;
    ball.receiveShadow = true;

    scene.add(ball);


    //Sphere Physics
    transform.setIdentity();
    transform.setOrigin( new Ammo.btVector3( pos1.x, pos1.y, pos1.z ) );
    transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
    let motionState = new Ammo.btDefaultMotionState( transform );

    let sphereColShape = new Ammo.btSphereShape( radius );
    sphereColShape.setMargin( 0.05 );

    let localInertia = new Ammo.btVector3( 0, 0, 0 );
    sphereColShape.calculateLocalInertia( mass1, localInertia );

    let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass1, motionState, sphereColShape, localInertia );
    let sphereBody = new Ammo.btRigidBody( rbInfo );

    physicsWorld.addRigidBody( sphereBody, colGroupGreenBall, colGroupRedBall );

    ball.userData.physicsBody = sphereBody;
    rigidBodies.push(ball);
    

    //Block Graphics
    let block = new THREE.Mesh(new THREE.BoxBufferGeometry(), new THREE.MeshPhongMaterial({color: 0xf78a1d}));

    block.position.set(pos2.x, pos2.y, pos2.z);
    block.scale.set(scale.x, scale.y, scale.z);

    block.castShadow = true;
    block.receiveShadow = true;

    scene.add(block);


    //Block Physics
    transform.setIdentity();
    transform.setOrigin( new Ammo.btVector3( pos2.x, pos2.y, pos2.z ) );
    transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
    motionState = new Ammo.btDefaultMotionState( transform );

    let blockColShape = new Ammo.btBoxShape( new Ammo.btVector3( scale.x * 0.5, scale.y * 0.5, scale.z * 0.5 ) );
    blockColShape.setMargin( 0.05 );

    localInertia = new Ammo.btVector3( 0, 0, 0 );
    blockColShape.calculateLocalInertia( mass2, localInertia );

    rbInfo = new Ammo.btRigidBodyConstructionInfo( mass2, motionState, blockColShape, localInertia );
    let blockBody = new Ammo.btRigidBody( rbInfo );

    physicsWorld.addRigidBody( blockBody, colGroupGreenBall, colGroupRedBall );
    
    block.userData.physicsBody = blockBody;
    rigidBodies.push(block);



    //Create Joints
    let spherePivot = new Ammo.btVector3( 0, - radius, 0 );
    let blockPivot = new Ammo.btVector3( - scale.x * 0.5, 1, 1 );

    let p2p = new Ammo.btPoint2PointConstraint( sphereBody, blockBody, spherePivot, blockPivot);
    physicsWorld.addConstraint( p2p, false );

}