I suppose that a judge could, if pressed by the litigants, unravel the charges and countercharges. The judge could, if pressed, get to the fundamental truth as to which party really dropped the ball. It would be one expensive and protracted proceeding. Perhaps that's why so few such proceedings are instituted. Both parties may hate each other's guts but they are sensible enough to realise the futility of litigation.
Disputes involving research and development contracts lend themselves to professional mediation.
All of my contracts contain a mediation clause. In my law practice, I have handled many dispute resolution matters before professional mediators. Indeed, I have served as a professional mediator. Professional mediation is a mixed bag. With some disputes, it can be the greatest thing since sliced bread.