How do you deal with a cruel mother?

My mother has been cruel all my life. When she wants you to do something, she'll threaten you with throwing you out of the house or taking something you love away. She's told me many times she wished she had "put me in pot of boiling water" when I was a baby. My brother was adopted. If he didn't eat his food, she would yell at him "I'm going to send you back to your real mother in the Philippines if you don't eat." This happened DAILY. Recently she has been pissed at the cats who don't like her because she bullies them. She knows everyone loves them but since she's pissed she's "accidentally" started letting them out of the house to get lost. I've suffered major anxiety attacks and depression all my life and I wonder if her treatment has had something to do with it. Ditto with my brother. How would you deal with a person like this? How do I control the HATE I feel towards her and my father for doing nothing to stop her?