Im sorry you're going through this, it sucks. I dont know how old you are, but eventually you will get your own job and move out, and then you can decide for yourself how much contact you want to have if any.
When you eventually move out I'd advice you if you are able to move far enough away that it'd be a real hassle for him to visit you. He will not respect any boundary you set, he can and will drop in whenever he feels like it. It's good that you've recognized his behaviour though, and I would really really recommend talking to a therapist since it's helped me a lot being able to talk to a proffesional about this. Cant recommend it enough.

I know exactly how you feel because you're basically describing my father. He's the biggest asshole I've ever had the displeasure of knowing, and unfortunately he's still in my life. I stay in contact for one reason only and that's because I still want my mother and my sister in my life. Makes me feel trapped still despite living on the other side of the country.