Well Henri Pescarolo seems to know what happened... and he's saying more with each interview. (He also describes the AMR-One as *something I can't write here* in this one):
http://www.autonewsinfo.com/2012/02/...tos-37409.html
"They had worked on it a lot, maybe for a Japanese manufacturer, and then the game changed and they were looking for the ideal team to run it. (it's an ex-OAK employee who told them about Pescarolo Team) I accepted because it was a good bet for the future at a time when my future was rather bleak."
Personally, I'd say Dome is frustrated because there were contacts with Toyota; they probably took a good look at the car and Dome kept developing it for them. Then, they went with their own car - but most of us agree that it looks a lot like an S102 tub. I can understand their frustration.