Saparated and dating a married guy

I had been married for 10 years with a 5 years old kid. I love my daughter.. But I cannot stand my husband as he was not understanding. We argued every single day of our lives for past 10 years. I am separated .my daughter is with her dad. I found another guy. He is unhappily married .He told me everything about him and his life. He was my friend in staring.. We shared our problems with each other. He said he is with his wife so that he could get residency in Australia. Other than that he will get separated when this will happen. He said he was falling in love with me. We go out on dates we talk to each other for hours everyday. He told little bit about me to his dad and his friends. He never force me to have sex or anything like that. If I interested then we do something. He love going with me to the places where he always wanted to. But I miss my daughter. He want her to be with her Dad. I don’t get that. Sometimes I feel I can live without him if I have my daughter with me. I feel like a horrible parent who cannot see own child’s tears in front of own happiness. I want her badly in my life. No doubt I love him but may be because he is still living under same roof with his wife, my heart hasn’t accept him completely. I just so confused. I told him once that I just want to be his friend with benefits if he wants sex,lol,until he gets separated but he said it is not about sex. He said he is emotionally attached to me… What should I do? Please help