I've done a restraining order, and was able to get it without the offending party actually showing up for court.
I am very familiar with the "Not my fault" projections of the borderline personality. S in particular is never at fault for ANYTHING. It is remarkable how many crazy, unreasonable people she seems to encounter in her life, though!
Are you planning to go? I don't go to these things anymore, personally. Or help them get to appearances, remind them about appearances, or really have anything to do with the whole mess. Their mess, their problem. You'll have to decide what approach you want to take with your daughter, but I've felt remarkably freer since adopting this approach with mine. If they miss a court date and wind up in bigger trouble it's a lesson learned (or not, sometimes...but I keep hoping).