Okay, lap dance aside (which I don't agree with obvs), I just wanted to offer some advice about the ED, and share my experience, because I think this is at the heart of this problem (somewhat).
My DH also had ED, and our sex life was rubbish. For years, I felt exactly like you describe (undesirable), and my DH would often ignore any upset, as he didn't have the answer.
We have recently turned things around, by him talking a daily tablet called Tadalafil. He gets this from Numan (on-line). He can now get an erection at any time, and the change to our sex life has been enormous. This is after YEARS of us having problems.
I know that right now, you will want to concentrate on the argument from last night and why he didn't comfort you etc, but when the dust has settled please have a think about trying Tadalafil (if you want to fix things). We've gone from having sex about 8 times a year, to a few times a week, if not more. Once you get your sex life back on track, so many other things seem to fall in to place, such as how you feel about yourself and your body.