This is a script i created for convert animated object into voxels, maintaining correct voxel animation, it also support multimaterials (please check video tutorial). i also added a voxel material so it can simulate fillet on each voxel. i hope you find this useful. below is a video of the script in action, and a video tutorial.
NEW UPDATE to version 2.0
i sorted some errors and fix them, please update the script and replace the old one
Thanks to Anubis for optimizing the code, now it works better.