It sounds like you are living in a bad situation. It sounds like you don't think there will be much change (even if you do try counseling)... Like others said, get a lawyer... and protect yourself and your daughter.

Otherwise, you'll be in your 'mid-life' continuing to work and plan for retirement; then BAMMM!!! one day SHE will decide it's time to move on... and you'll be wondering what the heck happened and what to do next !!!

Peace and good luck man!