I think it's funny you said I finally stood up to him. I thought FOR SURE I would get slammed here by tons of 2x4's for being so b*tchy to him in the text messages!
Dar, there are times to stand up, times to be bitchy, times to diffuse, and times to avoid. The really tough part is knowing when the time is right for each one.
There is plenty of blame to share for you and your H. One of you should have been grown up enough to walk away from it. The result is that your D now has a horrid memory etched in her brain that will last a life time.
Going forward now you need to put a plan in place so that episodes like this won't happen again. Set up the prearranged visitation schedule and if your H misses his pick up time he is SOL. Let him know that in advance. No txt convos follow that escalate to a physical scrimmage. Set a boundary and keep it. Stop being sucked down to his level.
Live your life while you are still living. Riding the trail less traveled.