My step daughters step father is abusive!

My step daughters step father (her mothers husband) is physically abusive. She comes home and tells us that he has hit her twice in the face as a form of discipline. Her mom and step dad admitted it was true. She is FIVE years old! Kindergarten! He was also dishonorably discharged for hitting her mother as well, and according to the mother he has also hit their three year old son. My husband Brian said she’s no longer allowed over there and we already have a court order from a few years back that mom is only allowed supervised visitation regardless. So we are not doing anything illegal. Her husband decides to tell my husband through text that he’s going to show up to either his work or our house and beat him up. He even said “I will cut your head off” in text. Is it possible to get a restraining order or to file a police report over this or are they going to do nothing? Thanks