Tom's joke made us (laugh) not let someone do something? Follow the prototype of the verb?

Make can add object complement make+O+OC. Object complement can include adjectives, adverbs and nouns that are not predicates (to do, omit to, do, done).

Preposition phrases play such a role; Make someone do something, emphasize continuous action to make something complete.

For example, his jokes made us laugh.

His jokes made us laugh in class, and everyone laughed in class.

I'll give you another noun. We made him monitor.

He cleaned the room in order to make it clean.