The first 6 years of my sons life sounds like yours. The first picture have of him is at our wedding when he was 2. Hopefully though we weren't / aren't abusive. So I think there's untreated mental illness in play here too. If you don't mind me asking how old are you?

After 16 my parents didn't let me back into the house no matter what you have options depending on age. You need stable housing and treatment so you can get a court order to see your daughter. What are your interests or what were they as a kid?