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This is a paid asset, but now you can download MagicaVoxel Tools Free.
MagicaVoxel Tools v1.2
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MagicaVoxel is a free 8-bit voxel art editor.
You can download it here: Website
Features
Export any of your Unity meshes with full color to MagicaVoxel.
Import MagicaVoxel files Optimized to Prefabs.
Export
Standard Unity Meshes
Skinned Meshes
Combined Meshes
*Includes a Mesh baker, so you can Voxelize multiple meshes as a single object.
Import
Optimized Mesh
MagicaVoxel Materials
Voxel Data
Export/Import is as Simple as 2 mouse clicks!