Legal Question in Family Law in Texas

I have a question about when does the law favor the custodial parent? My ex who has joint custody has never exercised his visitations to the fullest. The past several years my daughter and I meet him in town for lunch on his saturday. That is it. Back in May he had a girlfriend so he tried to start taking his daughter by himself. She did not like it. July he tried to kill himself because his on again off again girlfriend dumped him. he has not seen his daughter in 6 months because of all his issues. His face is all messed up. We recently ran into him the other day and he was with this girlfriend and her kids. My daughter was nervous around him and didnt want to hug him. The law says that since he did not harm her that I can not do anything about his visitations. He still has a right to see her. He is wanting to start up his visitations again as soon as his court mess is worked out because the state pressed charges for his violent behaviour and resisting arest. He has no job. he is trying for diability. Pays no child support. I am concearned for the well being of my child. If he is back with this woman how stable can that be and how stable can he be. If the law says since he did not hurt her then how can I make sure her well being is no jepbordized by her father when he has no concearn for it. He has no home of his own. He lives with what ever girlfriend he can find. he has physical problems with his back and can barely walk. All this and I am still told that I can do nothing.

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