BM Will we ever get along?????

Li
Today was a GREAT day. My fiancé finally got his day in court with his kids' mother. His twins were born last year in January and this past year has been hell dealing with her. Since she physically had the babies, she felt it was up to her if and when he got to see them. Just like the typical BM, if she felt "disrespected", she wouldn't let him see their kids. I know it all comes from her frustration of him moving on so quickly after their breakup and his refusal to her attempts to reconcile and her attempts to just have sex.  Anyway it's only a temporary order but he has joint physical and legal custody. The judge saw right through her. I could've danced down the aisle. 
Anyway I don't hate this woman eventhough she continues to threaten to "whoop my ass"; these threats are never directly to me but to my fiancé. Even with all the struggles and stress she's caused my SO, I don't hate her. I feel empathy for her. I've been a single mother at her age and I know how hard it is except that my child's father wanted nothing to do with him and my SO is just the opposite. If the father wants to help and be around for his kids, why are you trying so hard to alienate them?  I would've been happy to get real help over a small amount of child support. Anyway I'd like to be able to get along with her. There may be times when I'll have to help with drop offs and pick ups if my SO is at work and I don't want no confrontation. Right now my SO doesn't want me to go alone because of all her threats. 
Is there any way at all that me and her can be civil?  How do I go about starting a convo about this?  I've made sure not to say anything to her for months because every time I did, no matter how polite I was, it was always turned around into a problem. I'm not mad at her but she hates my guts. Do you think there's any way to resolve this?