I was in a relationship (live in) with a single mother for over four years. When we first started dating, her son was about a year old. For all the time we were together, I accepted him as my own. I grew attached to this little boy. We fished. We camped. We did all the things that his biological father "wanted to do", or "tried to do" on his once a month weekend.
When the relationship ended, on good terms, the hardest part was saying goodbye to her son. It broke my heart. It broke HER heart. I stayed in contact for a year or so. Until I met my future wife, and kind of faded apart. I still see him in town. He's going to graduate this year. He's a good kid. We share fond memories. He still remembers me, and certain events.
You see, you simply cannot stay on for the children. Especially when you have no blood obligation. He's abusive and hateful. He's using you as a nanny, cook, maid,. there's no telling what else.
Go be happy.
You can always try to stay in touch with the children. For a while at least.
I know the pain. But I also know the joy of marrying the RIGHT person for me, and having two wonderful healthy sons of my own to love.
May God help you find happiness.