The javascript you shared would allow Google to fairly easily access the page ending in dtc_inventory_ajax.php?id=29935291. If that's the page you want them to not be able to access, perhaps you'd be better off referencing just the id portion of the URL, which should be enough for the database to take the user to the right page.
Regardless, you "should" be OK with just the robots.txt block, though all of the href tags are sort of diluting the amount of pagerank you can send to other pages from whatever page you're on.
The robots.txt disallow statement you provided might be improved upon.
Disallow: /*?
The one above seems to me like it would only work on URLs that were in the root directory. Try this one instead of, or in addition to, the one above:
Disallow: /?id=*
Also I'd add this one to any Wordpress site, which in itself should take care of the issue if the URL in your script is an example of those that you're concerned about:
Disallow: /wp-content/plugins/
You can use the URL Removal Tool in Google Webmaster Tools to get the ones that have already been crawled out of the index. You can do it at the URL level, or at the directory level.
Lastly, if you're blocking Google and the SERP says unable to display because of the robots.txt file I don't think you need to worry about the content on those pages affecting your site with regard to a Panda penalty or anything like that. However, if Google had already indexed the content on those pages you will want to remove the URLs via Webmaster Tools as described above.