Pads could be low enough that they over heat, boiling the brake fluid causing the sensation in the pedal that you describe. As above, it could also be warped discs and also a sticky or seized caliper piston. Drive normally for 2 or 3 miles without using the brakes to much. Then, when you have parked up, check the temperature of each of the front wheels. If one is noticeably hotter than the other, you have a sticky or seized caliper. You can also find this out by just getting the car rolling, dip the clutch and don't touch the brakes. If a caliper is 'grabbing' you will feel it.
Either way, you really need to whip the front wheel off and have a look.