I am very glad that you got out and got a restraining order. You are worth much better than that and nobody does anything to even deserve just a little of what he did to you. It is never okay to lay your hands on someone else. Unless it is self defense.
I wish you nothing but the best and be strong....very strong. Please do dont go back and just think. Right now it is you, but what if it had been one of your children? Does not sound like they could have survived something like that. It is a wonder that you did.

Be strong for yourself and your children.