If you can't stand the man touching you then I suggest you start by telling him that you're going to try getting yourself a job. Surely you don't expect to or want to go on welfare and live in low rental, crappy housing. Then once you've got a job and saved up enough money for first and last month's rent on a decent place , move out Contact Legal Aid for help with setting up child support payments and a schedule of visitation for your husband to see his child.
If he's not getting any therapy for his PTSD then I can't see him changing. Have you at least had a conversation with him about how unhappy you are and that you're contemplating leaving? If you haven't then you should first do that and perhaps it will kick him into action towards being a better partner by getting the help he needs. Right now he has you totally dependent on him and it sounds like he's doing his best to isolate you from your friends by making you feel guilty and causing arguments whenever you want to be with them. . Get out or get couples counceling but do something soon before things get worse.
How old are you and where are your parents? What do they say about you being so unhappy and living with this man?
“The willingness to accept responsibility for one’s own life is the source from which self-respect springs.” ~Joan Didion