Leaving father of my children; custody vs coparenting ?

Finally left after he pushed me in front of my children (1 & 2 yo). I had suffered from his emotional, verbal and physically abuse since pregnancy. He is good at playing an act when others are around and I was told I was lucky. I’m emotionally wrecked because now I have to share my girls and not be with them every night, so it breaks my heart. The worst part is his mother decided to have words with me and it’s made things worse. Please give me advice on coparenting, or did you file for custody?