Sounds like you do need a clutch adjustment.Do you have a hydraulic clutch?Check beside the brake master cylinder and look for a SMALLER size master cylinder which may be low on fluid.(PUT ONLY BRAKE FLUID IN TO FILL IT).Hopefully it is just low and the brake fluid fill will restore your clutch adjustment.
this indicates a damaged clutch disk and pressure plate, however the transmission has come down to determine the damage, 1 you will need a clutc assembly 2 the flywheel will either need to be resurfaced or my best suggestion is to replace it since it is over heated just like a bad brake rotor when the flywheel is over heated it is worped and causes the judder!!
Clutch judder is mostly caused by broken springs in the friction plate, the springs usually snap due to too much enthusiasm at traffic light races.
Some cars with cable operated clutches suffer from a form of clutch judder if the cable is dry and not running freely in the sheathing.
A good cure for this is to release the cable at the gearbox end and holding the end of the cable in the air pour a few drops of oil down the inner cable.