I Hate My Dad

I don't know where else to go or who to talk to. I hate my father, I'm 20 years old and I just want him dead. The first 10 years of my life were ok, but when I was in 5th grade, he cheated on my mom, he flirted with the lady right in front of me. Anyways, he is a control freak, and miserable. If he's in a bad mood then he will go out of his way to make sure everyone is in a bad mood. He even tries to turn my boyfriend  against me at times. He is desrespectful to my mother and me, he calls us names, like stupid, waste of space, good for nothing. I can't stand it! I can't afford to move out, I'm on the H U D list, that's how desperate I am, but its a 2 yr waiting list. Does anyone know what i am going through or has some helpful advise, because I'm at the point where I just don't want to live anymore.