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If the divorce is not agreed to by both spouses, one spouse must file a petition for divorce and claim one of the following grounds:
4. Conviction of a felony.
6. Living Separate and Apart.
7. Insanity and confinement to a state mental hospital.
The domestic violence would fall into the insupportability and cruelty categories, giving you grounds to proceed. While he can contest the divorce, he can't stop it if you can prove the domestic violence with your testimony and physical proof.
Here is a link that outlines the general procedure for a divorce: http://www.divorcenet.com/states/texas/txfaq01
I would recommend that you hire a local attorney to file for divorce and also ask that the restraining order stay in place throughout the proceedings.