How should I get out of this abusive relationship?

I am stuck in a relationship that I don't want with a woman who hates everything about me. She is always demeaning me, ridiculing me, yelling at me, and telling me that I'm no good, stupid, worthless and even hits me on occasion. We were married before and got divorced because she was physically abusive to me. I am such a sucker and a wimp that I am now back with her and its still bad. most days, I want to die. I am not sure how I make it to work some days. I cannot afford to leave, and neither can she. I don't wish her any ill will or further hardships as she was homeless for a spell after the divorce, I am such an idiot for getting involved with her again and I feel "STUCK" here. I do not know what to do. I often fantasize about suicide, but I know that is too messy and would cause more problems. I find very little joy in life anymore, and we aren't even sleeping together so none of this seems "worth it" to me. I do love her and care about her well being, but I simply cannot take this anymore. I am very confused,because when she is sweet and nice to me its very pleasant, but with everything that's gone I feel like I have lost myself. After being with her, I have no idea who I am anymore, or what I am about. She puts me down for everything that I ever valued about myself, and constantly undermines my confidence, self esteem and faith in my own ability as a person. I want out and have tried to leave several times. I have very emphatically told her that I don't want this and yet somehow she manipulates me into staying and into believing that it is all my fault somehow. I want the pain to end, I don't know how to get out of this without one or the other of us dying, going to jail or falling apart and becoming homeless. Please help me figure out what the best course of action is here. Any ideas on what the most efficient clean and least painful exit. Money is a big issue in this case.--InsaneToStay