Budgets are decided by elected officials and elected officials are steered by their polling numbers.
Out of all sources of energy only atomic energy is something that we can practically scale at the moment to cover almost all our needs (air travel and maritime shipping being notable exceptions). We just need to think a bit harder how to ensure this is done responsibly and safely. Not saying it is an easy problem, but I think the issue is too little resources are devoted to solving it. I would say this probably isn't harder than sending a man to the Moon. It is just something that should be possible to fix practically with existing technology and just good design.
The cost of humanity that can't decide on what needs to be done is that we are still reliant on fossil fuels and are distracting ourselves with half measures that have a lot of problems that in hindsight were pretty obvious. Like solar energy -- only works when the sun is up, is difficult to scale and we still haven't figured out how to store energy for when it is needed.
Our children will curse us.