Voxelize mesh algorithm in Unity.
// Voxelize target mesh Mesh mesh = GetComponent<MeshFilter>().mesh; List<Voxel> voxels = Voxelizer.Voxelize(mesh, 20); // 20 is # of voxel for largest AABB bounds-
Triangle mesh voxelization / Wolfire Games Blog - http://blog.wolfire.com/2009/11/Triangle-mesh-voxelization
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Möller–Trumbore intersection algorithm - https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm