My XH was like this! Nightmare. I stayed. Labour: he complained about how tired he was and refused to change a CD etc. Mat leave: miserable, him complaining about the house not being tidy enough and me not losing my baby weight. Miserable. (It was actually quite tidy, he just hated toys being around..... I was a bit fat though, I'll admit!). He made comments about "seeing your little friends" when I met up with NCT people. It was diabolical. I went back to work after 9 months and was made redundant. He'd alienated me from most of my family and friends (all female friends lesbians, all male friends wanting an affair). Self-confidence died. Dreadful time. He used to throw fits about things and throw himself down the stairs, out of the car, etc. It was the worst time of my life. In the end I left when my DD was 2.5 years old. After a separation when she was 1.5 years old and 6 months of counselling. Some people are just not right, basically!
Now I have ongoing battles with him as he tries to exert control over contact etc (including him moving an hour away and demanding that mid-week contact continues at his new house after picking DD up from nursery at 6pm etc). Delightful.
However, I also have a lovely and wonderful boyfriend who is messy, dappy, forgetful, generous, sweet, and loves me and my DD and is NICE.
I think if I'd have left before having my dd it would have been better but I think that OP will probably stay because let's face it, when you're pregnant you try to do the best for your child and you imagine that it's best to stay with the child's dad. It's not, in a situation like this, and I wish I'd left a lot earlier, but I felt like I gave it a go. It ruined my life for a couple of years though so if you can bring yourself to go then go!