Avatarair, I'm sorry you're in this situation....it really sucks when someone we love won't help themselves. There are some things you can do to help. First up, you've got to start with some tough love.
1. you must stop enabling her behaviour. If she won't lift a finger to do laundry or cooking, she needs to go hungry or find there's no clean washing. Likewise, if she doesn't want to get a driver's licence, don't be her chauffer. At present, she won't bother changing these things because she doesn't need to.
2. get her to see a doctor. I suspect that she's suffering from clinical depression and could benefit from both medication and counselling. The doom and gloom outlook plus the lack of motivation are both signs of depression.
How do get her to see a doctor? Make it an expectation that if she wants to continue the relationship, she MUST seek help for herself. And frankly, if she won't help herself, you really are better off ending the relationship. Being with someone who'd depressed and refuses to address it will only drag you down.
Never regret anything that has happened in your life. It cannot be changed, forgotten or undone. So, take it as a lesson learned and move on.