Possessive/Jealous Child with other parent

My 3 yr old step daughter is very jealous of her father giving me attention.  If it is dinner time, she "HAS" to sit by him in arms reach or she will fall out in tears and screaming.  He can only bathe her when he is around, he can only go w/her to the bathroom, she is now even demanding that he drives when we are all in the car together.  WE don't allow my son (7 yrs old) to sleep in the bed with us, but yet the father allows her to fall asleep in the bed with him before I get to bed.  Otherwise, she will throw a fit - scream & cry.  HEEELLLP!!