Maybe he needs to stay in jail just a tad bit longer. Hit another person, even his own child...that is wrong on so many levels.
He sounds like a bully and that is not your fault nor your daughters. He does not want to take responsibility for his own actions...sounds familiar. I left my ex approx 17 years ago and haven't looked back...went through hell before it got better but the trip was worth it.
What you describe he has a lot of issues going on. Have you considered leaving him and let him lie in his own misery? If he is not happy then why should anyone else be?
You said you don't want to go through another divorce (your other post)...how about a legal separation, maybe that will wake him up? If not, then make it legal and move on. You and your children deserve so much more and it is out here, trust me, it is.
~Zig