I'm so sorry you are in this situation, but as has been said, you need to take control, particularly in terms of finances. Gather what you can and stash it before the time comes when he uses money to control your choices. Judging by what he's done thus far, I doubt it's far away. I realise it's hard, after trusting someone for so long, to believe that he could be capable of causing you such difficulties, but sadly that is often the case. You need to put your business head on, deal with him in a matter of fact way, and allow yourself an emotional withdrawal while practicalities are sorted.
It sounds as if your daughter, at least, has the measure of him, so please ignore what he said and make the most of your support network. You are still young enough to get your head round this and move on to forge a good life, albeit a different one to that previously envisaged. This new life will be of your choosing, once you are free of this self-interested controlling man who doesn't deserve you or your children, and wouldn't have been able to enjoy them and his lifestyle without your input. You have skills to have kept a home and raised your children, now you just get to recognise your full potential.
It sounds harsh, but I'd also suggest changing the locks, he has left, but could come back at any time and clear the place. I don't know about the legal position, but if he wants in, then he needs to do it when you are there. If he moves back in he could make life extremely unpleasant for both of you, and if you leave then he has the upper hand in terms of the sale of any property etc.
Stay strong, you can do this.
Big hugs xXx