I've done some horrendous things when in a manic state that I'm massively ashamed of and they have destroyed my, and my wife's life. My wife has been hugely understanding and supportive, even though we're getting a divorce. Despite that, I still feel guilt and I suspect I always will.
That said, I am trying to accept that if I were my normal self, none of it would have happened and that I shouldn't be so hard on myself. I think the fact you have posted that you feel guilt shows that you're not a bad person and that you regret what has happened. Have you told your wife and daughter how you feel, and do they fully understand how Bipolar affects you?