This paper presents a physics-informed neural network (PINN) for modeling first-order Ambisonic (FOA) room impulse responses (RIRs). PINNs have demonstrated promising performance in sound field interpolation by combining the powerful modeling capability of neural networks and the physical principles of sound propagation. In room acoustics, PINNs have typically been trained to represent the sound pressure measured by omnidirectional microphones where the wave equation or its frequency-domain counterpart, i.e., the Helmholtz equation, is leveraged. Meanwhile, FOA RIRs additionally provide spatial characteristics and are useful for immersive audio generation with a wide range of applications. In this paper, we extend the PINN framework to model FOA RIRs. We derive two physics-informed priors for FOA RIRs based on the correspondence between the particle velocity and the (X, Y, Z)-channels of FOA. These priors associate the predicted W-channel and other channels through their partial derivatives and impose the physically feasible relationship on the four channels. Our experiments confirm the effectiveness of the proposed method compared with a neural network without the physics-informed prior.