My husband told me to jump off a balcony

He has an explosive temper. He is usually verbally and emotionally abusive. There’s been a couple of instances where he put his hands on me. He used to tell our children when they were younger that if they didn’t listen that he was going to put me in the hospital. Two times he’s thrown and flipped tables. He’s thrown glass bowls. There isn’t a person on my side of the family or his that he hasn’t gotten into a verbal altercation with. I’ve never documented anything (last thing I’m thinking about in those moments) and I’ve never called the cops nor has anyone else, my fear is that bc of this he’ll get some type of visitation or custody with our kids and that he’ll do or say something to them when I’m not there to protect them. Has anyone else gone through court for custody and were successful in either getting full custody or supervised visitation without documentation? Would the court interview my kids and family members?