OP, I was in a fog for three years. One day my ex who had always been subtley abusive told me to drop dead of cancer in front of my kids and strangers in a park while I was pushing my baby on a swing. Three years it took me from that day to the day I left. I was constantly fighting with myself, as in between the shit we got on well. I think he has an undiagnosed personality disorder. It was staring me in the face and I was paralysed to do anything about it.
What I did do though was get strong, mentally and physically. The physical part involed serious strength training at the gym, which helped me be in good shape when I left him, but also gave me an hour of thinking time. I also started to open up to friends.
When my friend sent me the boiling frog analogy someone posted above, I knew she was right, but couldn't see things as clearly as they are. Your daughter has recognised his behaviour is wrong, now its time to put things into action.
First thing I did waas write a list of reasons to stay and reasons to stay. The list to leave was much longer than the list to stay. I also really observed everything and wrote an online journal. That way when I was doubting tings were really that bad, I could read back and say there were. In the end the straws kept piling up then one day, I realised I was totally done and within 5 days I moved out of the home with my two kids.
I am not saying its easy, its not, 2 1/2 years out I am happy but physically and mentally I have taken a battering. He didnt take it well, the abuse still continues at times because I have to have contact with him r/e the kids. Open up to a friend or counsellor, find your fight and realise you deserve better I spent years believing everything that was wrong in our relationship was my fault, that I wasnt good enough etc. In reality it was rarely me, he just liked to live a life where he could blame me for everything he perceived was wrong. Like your husband and the jumper situation. Its unecessary and its designed to make himself feel better by tearing and destroying you down.
While you are deciding how to do thing, eat well, look after yourself, exercise, journal and post here for help. It seems overwhelming and I understand you probably dont feel like you have the strength. Imagine in a few years time your daughter is in a similar relationship, or your son starts behaving like him. Only you can change the situation, because he wont. Good luck OP.