I hate my dad. I don't know what to do?

My dad just gets on my nerves something fierce. He's rude, and loud and thinks he's funny, but he's not. We just don't get along. I fight with him almost every time I go to his house, but he still won't let me live at my mom's and spend a couple of days with him every once and a while. My mom always says that she wished I could live with her all the time, but whenever I ask her she gets pissed off and tells me that I have to live at my dad's too. I don't know what to do. I'm so depressed there and I actually hate life when I'm at my dad's. I know that sounds immature, but I've just had enough. I hate living there and I hate him. I just don't know.