Can I get a divorce and full custody based on domestic abuse?

I’ve been married for 15 years and my wife has been verbally and physically abuse to me for most of that time. I’ve never abused her because I don’t believe a man should abuse a woman. I’ve stayed in the marriage for our two kids, who are 10 and 12 years old. I thought it was best for them to have their mom in their lives but I no longer think it’s good for them to see this type of behavior in the home. Is it possible to get a final divorce and full custody of my children based on the domestic abuse? Is there going to be some favoritism toward her because she’s the mom? If I am able to file for divorce and custody based on her behavior, what do I actually need to provide to the judge to prove the abuse?