I'm 17 and I feel like I'll never have a girlfriend

I feel like I'll never have a girlfriend. I'm 17 and I have never been in a relationship before and I don't even have any female friends. I'm really not exaggerating about the female friends part. Most guys can at least say they have one or a few girl friends. I have a real hard time socializing but it is easier for me to talk to other guys than girls. I don't even have many guy friends. No girl has ever approached me about dating or anything like that. Only a few girls have called me cute before but more girls have called me ugly and made fun of my looks before. I haven't been "bullied" in years but the effects still linger as I have low self-esteem. I find it hard to think of any positives about myself that girls would like. I'm a pretty smart guy, but I'm not really attractive, my voice is breathy and ugly, I have no social skills and I'm extremely awkward, and there's nothing interesting about me or anything that makes me stand out. I hate seeing girls that I think are really attractive because I know that I'm virtually invisible in their eyes because I don't look good enough. I try to wear nice clothes and shower a lot but they still don't seem to care. I feel embarrassed about my situation because most people my age can say that they have done things like had their first kiss, lose their virginity, or gone to the prom. I haven't done any of those things. The latter really kills me because of the fact that that is supposed to be a memorable high school moment and I won't get to live it. I have no real way to meet or talk with girls either. I am home schooled and I graduate this year and I don't plan on going to college. I try to be optimistic about finding a girlfriend but girls just pay me no mind. Thinking about it is depressing and I feel like a loser and a joke. Please help.