Thank you for your help here 
Please let me know if you would like me to build with a config different from the one in the README:
cmake -B ./builds/ -DCLOSURE=1 -DTOTAL_MEMORY=134217728 -DALLOW_MEMORY_GROWTH=1
I got the DTOTAL_MEMORY value from @MackeyK24 's post and added DALLOW_MEMORY_GROWTH (mentioned in Ammo.js) for safety