What should I do about my father?

My father and I don't have a great relationship although he thinks we do. He treated me horribly as a child and I resent him for it because I've never received an apology. He has yelled at me so frequently and so severely I could almost call it emotional abuse. Every time I go to his house to see my step-brother, he insists on giving me long drawn-out hugs which make me feel uncomfortable. My mother and I have told him multiple times how these hugs make me feel but he dismisses it. The last time I went to visit, he came up to me for a hug and I told him i didn't like huge and he said in front of my mother and I that he couldn't care less about what I didn't like. Mind you, I have severe depression and anxiety and have had to be admitted into a hospital and put into home schooling because of this. The mental issues came from his side of the family and seeing as those it is his fault I am this way, I would think he would be a little more tolerant of how I feel because of the issues. He has made it very clear that he doesn't care about my feelings but is there anything I can do? His blatant disregard for my feelings is causing me great distress.