Pine1,
re your comment:-
"Pog100 what you said about him having a cold dislike for me - I really think you’re right but I don’t get why he doesn’t just leave or talk to me about trying to do something about it. It’s like he’s ok with living a dissatisfied life"
The only level of abuse acceptable in a relationship is NONE. Your H broke that the first time he called you such names.
What do you get out of this relationship now, what is in this still for you?. Forget everything else for a mo, what needs of yours are being met here?.
Abuse is not about a perceived lack of communication or even communication, its about power and control. Your man here wants absolute. I would think that he is the root cause of your ongoing depressive state now.
Your children even if they do not hear him calling you vile names are picking up on all the unspoken vibes and your reactions. They are learning from you also about relationships. Think carefully about what you want to teach them and what they are learning about relationships from the two of you here.
He is blaming you for his inherent unhappiness and actions but you are not responsible for his actions nor his emotional state. BTW Pine what are his parents like?. They would also give you clues here.
The name calling towards you is abusive in nature and stems from wanting power and control. He likes having you around because if you left (that is really your best option here going forward) he would have to them find some other woman and that takes both time and hard work.
Joint counselling was never going to work out either because such abusive men can appear plausible and they can and do also manipulate counsellors (as your H certainly did). You've been manipulated by him to date, these people are master manipulators.
Its failing because he is abusive and his apology is anything but; its mere words designed to keep you where you are. He has not taken or accepted any real responsibility for his actions here.
I would be talking to Womens Aid in your particular circumstances and seek their counsel. They can and will help you here, their number is 0808 2000 247.