That's a troubling problem. :yikes:
What sort of driving conditions were you in when it happened. Things like speed, road conditions, frequency of braking (i.e. were you in stop-and-go traffic or cruising on the highway) are relevant. Did traction control kick in?
When was the last time the brakes were changed? Brake lines? Brake fluid?
I agree, it's not the typical sign of a bad brake booster (hard pedal that sits high), though I wouldn't overlook the possibility of a mechanical failure in the pedal assembly. A pedal going to the floor usually means hydraulic pressure was lost. That could be the master cylinder going out, the brake fluid boiling, brake fluid leaking, etc. Since the pedal stiffness came back somewhat, I'd say it's most likely the fluid or the master cylinder.
One way to test for a failing master cylinder is to step on the brake pedal hard and to hold it. If it slowly sinks to the floor and there's no loss of fluid from the system, fluid is leaking past the internal seals and the cylinder needs to be replaced.