I was told that the 10mm was developed as the first incarnation of the .40. The FBI didn't like the muzzle flash and recoil so they then developed the .40. Good story anyway.
Story I got was that after the FBI was beat up in Miami by two guys who where hit multiple times with 9mm rounds but kept fighting and killed a few agents, the FBI did a study that resulted in most of the ballistic requirements you see quoted.
At least 10 inches of penetration in ballistic gelatin, no more that 12 inches and certain expansion characteristics.
Both of these were to be measured after penetrating several different medium including layers of denim and dry wall.
It was found that all this could be met by the 10mm round and a downloaded version at that.
S&W and another company, which I can't recall, realized that the same performance could be duplicated in a smaller .40 cartridge that would use the same size frame as a 9mm pistol.
Thus was born the .40 S&W. So the story I read goes....