This happened to me several years ago, the contact wasn't court ordered but was decided in a CP meeting where one of the professionals present had been exP's school nurse. Much "oh you were a lovely boy" and "of course you wouldn't hurt anyone" preceded the decision to allow him into my home to decorate the DC room (ended up doing it myself) and do bedtime stories (never picked up a book, or a child).
After the first contact was spent with him smoking in my sitting room, telling me in great detail about his sex life with his new gf, and handing me a knife telling me to cut his throat if I had the guts all in front of the DC, I decided to voice record the next contact.
The first recording was much the same as the above, so I went ahead with the next contact and recorded that too. That time was horrific, he ramped up the abuse to unspeakable proportions and locked the DC in their room whilst he did so. He proudly announced that this was the reason he came, not for the DC, but because I was his whether I like it or not.
It makes for pretty grim listening, but the next CP meeting was almost worth the injuries. He never saw my DC again. That was 7 years ago.
I have no idea if this would work in a court setting, and if there's a chance the verbal abuse may escalate into physical abuse it would be downright dangerous. It is what worked for me though, no winners in situations like these sadly. I'm sorry you're in this place.