Yes, it's called 'sleep paralysis' and its very common. What happens is, you're kind of in between waking and dreaming so it all feels very real. Often it comes with the terror you describe and a sense of a presence in the room.

I've had it happen before but not recently. I've read it tends to happen more when you are sleeping poorly, are sleep-deprived, or when you are napping (as you describe here).

It's not dangerous but it's kind of alarming. If it happens a lot, you might want to talk to your doctor about it. Good luck!