Do I have to make my kids go to visitation with abandoned father?

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Ok, I am in a sticky, sticky situation. I was married for over 9 years to my first husband. The entire marriage was rocky but I was going to fix it/him. I always felt sorry for him although he was abusive emotionally and slightly physically. Needless to say he abandoned my children when I was pregnant with my daughter and only had 6 hrs. of contact (2 visits 2-3 hrs. each and 4 phone calls) within a 4 year period. Since the divorce I have remarried and both of my children - son now 11 and daughter now 8 only know my new husband as their father. Because both of my children were very young they bonded extremely and naturally with my current hubby. Their bio father never really had much to do with them when he was home anyway so there was not much of a bond with my son and my daughter had not been born. Ex signed kids off in divorce for tractor and home theater system, no back support, no future support. I accepted the offer and gave told him for kids sake I would still allow visits as long as supervised (due to violent and abusive nature - other issues to - depression, had tried to commit suicide, alcohol abuse...totally went off the deep end). Little contact as mentioned above was done. Five years later (last year) I get a letter stating he wants visitation. I couldn't believe it. His statement was full of all kinds of false info about his attempts to contact kids. This was all thrown out because I kept very detailed documentation and phone records throughout the time of abandonment. To cut to the chase now - kids have been going unwilling but going (and having some fun) for the last year to one per week 2hr supervised visits. I have had them in counseling the entire time and counselor states no bonding has taken place that the kids look to me and my hubby as parents. Recently after undergoing his second mental health eval (of course at my expense) he has been released to see the kids unsupervised and for extended periods eventually leading up to overnights and standard visits. Oh, I forgot to mention that he was arrested in 2006 for beating another child of his black and blue. She was 16 at the time of the beating. Last weekend was first weekend for extended 6hr supervised visit. My son refused to get out of car and continues to refuse that he is going to go. He has threatened to run away and even get his bb gun out and shoot him. (Yes, we have taken the gun away!) He didn't end up having to go and visit was cancelled since it is still being supervised and supervisor refused to do visit with him in the condition. I know eventually I am going to have to make them go. Any advise for a heartbroken mother?