I hate my partner but I can't leave him. What shall I do?

I've been with my OH for 3 years, I fell pregnant 2 months into the relationship because he refused to use contraception and manipulated to have sex. 3 years later we've had plenty of arguments, he controls my life, he breaks my phone's and other items, he rarely helps with our child, I have to do everything for him like he is a child himself. I'm not saying I'm an angel but I try my hardest and think Im pretty easy going. He knows I don't love him because I am honest. I want to work at the relationship to stay a family but I need him to change and he physically can't. I hate him touching me, cuddling me I don't want to have sex with him but he always guilts me into doing it. He says if I leave he gets our child when I know after everything he's done hell be aloud to have her. So the question is do I give up or do I keep hoping for something that won't happen
I hate my partner but I can't leave him. What shall I do?
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