Luckily he doesn't need to consider a divorce for you to be able to. You can let him drag you behind him for the rest of your life speaking to you like a pice of shit, and choose a gaming room for the children over a seperate bed for yourself, or you can take steps towards making a change.
I personally feel that the risk of my children overhearing their father say One day you'll actually enhance my life rather than fucking making me miserable would be enough to spur me immediately in action as all the gaming rooms in the world won't counteract that.
Get on the phone to legal advice, whether this be your family friend or someone independent. I would think carefully about using the family friend, unless you are sure that word will not get back to him.
You will need to get hold of all the relevant financial information beforehand, ensure your savings are secure, find out about pensions, savings, any debts, mortgage, his earnings, rough mortgage capacity, examples of suitable housing for both parties from Rightmove, then get in front of a solicitor and find out what you'd be likely to achieve in a settlment, and from there you can work out your next move.
Yes it's ground you down and it's easlier to stay put because you haven't got the energy for the unknown, but no, you do not have to live like this, nor let your children watch you live like this. You deserve more and owe them more.