One embodiment of the invention disclosed herein provides techniques for voxelizing a mesh representation associated with a three-dimensional model to generate a volumetric model. A model filling engine associated with a voxelization system identifies a first voxel included in a voxel grid array that intersects with the mesh representation. The model filling engine selects a second voxel at an exterior boundary of the voxel grid array that is not identified as a boundary voxel. The model filling engine marks the second voxel as an exterior voxel. The model filling engine marks all unmarked voxels that are adjacent to the second voxel as exterior voxels. The model filling engine marks all remaining voxels as interior voxels. A model finishing engine associated with the voxelization system generates a volumetric model based at least in part on the first voxel.