Did you get one of those books when you were pregnant (I got them in two countries - the UK big purple one, and another one somewhere else) that said that if you needed to, if you were at the end of your tether with a screaming baby, you should put them in a safe place, close the door so you couldn't hear, and take the time you needed to calm down.
That's what you just did. You did exactly what you are supposed to do. You knew you were at breaking point, you made sure the kids were safe, and you removed yourself from the situation so you could sort yourself out. You did exactly the right thing.
Now practically, whilst I'm not one of the 'bite back' parents - I do think you should make sure that your little one knows that it hurt you - ham it up, don't suppress the yelp of pain or the tears in your eyes. Rub it and tell them to wait a moment because that really hurts, or go and get a cold flannel (like they would at nursery).
Then with the husband, perhaps you'll be lucky and he'll step up - but he sounds like my ex. Who didn't get up until we were literally heading out the door to school, and disappeared off to the gym when pickup time came round, and came to bed once I was already asleep (occasionally waking me for sex, which I was obviously not in the mood for as I was going to be up again at 6 for the kids!). I did most trips out with them actually, but when he felt like it he'd come and be engaged with them (if work didn't call). When I found out he'd been cheating on work trips and ended it, he left, and the kids didn't even notice after a few weeks, I pulled them aside one by one and told them. Eldest cried out of shock, but then came back a week later for a chat and told me that actually things were the same as they've always been. The youngest didn't care at all, and took over a year to want to even agree to talk to his dad (6 years old).
Do you think that taking the frustration of knowing he's there, and doing bugger all but bask in adulation will help? It did for me - I felt free, a weight lifted, even though I'm a single mother now with almost no respite (I work while they're at school, their dad sees them one day every two weeks, and sometimes an extra evening)