In 2017.3.0f3 this error was killing the game both in the editor and a build, fixed it by following the suggestion of changing physics contacts generation to legacy.

I was having this problem happening all the time (in 2017.4.15, editor and builds), but as was suggested in an earlier comment, switching contacts generation from PCM to legacy in the physics manager does seem to avoid the issue.

still happening in 2018.2.15f1 =(

This might only be loosely related and pretty specific, but, if you're using MeshColliders, check the collider mesh for vertex doubles (vertices at almost the same position) and remove them.

I had the AABB issues and removing doubles in the Collission Mesh fixed them.

Update: I dug in some more to see if there was a workaround. Turns out it wasn't Physics.OverlapSphere(), that was just where the error was appearing... In very specific conditions Physics.ComputePenetration() was sending back the "out Vector3 direction" with direction.z being NaN. This gradually infected the entire data until the position of the collider itself was all NaN and the Physics.OverlapSphere() generated the game-crashing error.

The error seemed to be that the point of collision was positioned EXACTLY at z=0 in world space. I was finally able to fix it by sanitizing the data immediately after my Physics.ComputePenetration() call:

Physics.ComputePenetration(coll1,coll1.transform.position,coll1.transform.rotation, coll2, coll2.transform.position, coll2.transform.rotation, out direction, out distance);

if(float.IsNaN(direction.x))
direction.x = 0f;
if(float.IsNaN(direction.y))
direction.y = 0f;
if(float.IsNaN(direction.z))
direction.z = 0f;

If you're not using code and this is just happening within the physics engine, you might try making the place where the problematic collision is happening just a little bit "off." Rather than (0,0,0) make it (.001,.001,.001) or tweaking the angle a little bit.

Ultimately I'm guessing this is a problem with PhysX, but maybe Unity can sanitize the data in it's wrapper functions?

We just ran into this in 2017.4.3f1

Isolated it down to a Physics.OverlapSphere() call which generates the error message(s). Works 99.9% of the time, but when that .01% happens the game completely crashes on Android.

I realize this is likely something wrong on the PhysX side of things, but still really need at least a workaround. Tried PCM and Legacy in the Physics Manager. Both generated the same error:

10-04 13:04:54.331 20229 20251 I Unity : Trying Overlap Sphere
10-04 13:04:54.331 20229 20251 I Unity : (Filename: /Users/builduser/buildslave/unity/build/artifacts/generated/common/runtime/DebugBindings.gen.cpp Line: 51)
10-04 13:04:54.331 20229 20251 E Unity : Infinity or NaN floating point numbers appear when calculating the transform matrix for a Collider. Scene hierarchy path "SceneCameraColliders/HeadCollider"
10-04 13:04:54.331 20229 20251 E Unity : (Filename: Line: 210)
10

Still happens in 2017.4.8, pretty much 1.5 years later...

Noticed in the editor and not checked builds

FYI, I can confirm that this error still occurs in 2018.2.0b8

I just noticed this issue in 2017.3.1, only in the builds (not in the editor).

Solution was easy. Simply disable PCM in PhysicsManager!