My father stayed with my mom for us, the kids, and in doing so, presented an unhealthy relationship for years and years and years. Similarly, I can't imagine living a life, pretending it never happened, and trying to reconcile something that for me is irreconcilable, just for the kids. A single parent home sort of sucks I'm sure but if both parents remain active and positive in their children's lives, I see no reason they can't be raised as well, if not better, than a home where smiling through your teeth becomes the norm.
File for divorce, go for custody of the kids, and move on.
I know this is anecdotal and just my opinion but opinions were asked and this is mine.