Same thing happened to me.
The good news...
If you roll your car a little bit or rock it back in forth in gear, you can usually get the started to engage the flywheel and start the car. You can also roll start it if you park on a hill.
The bad news...
Your starter is messed up. I am not sure if you can fix them, I just replaced mine. The part was $150. Its kind of in an awkward place under the intake manifold and takes some creative wiggling to get in and out. Remove your battery tray and you will have a clear path to it. Also have a 13mm gear wrench to get at the two bolts.
