CSG operations with voxelized solids

We present a new technique for CSG operations with voxelized geometric objects, which are represented by truncated discrete distance fields supplemented by additional information about the surface normal. The technique removes artifacts of straightforward volumetric CSG operations by taking into account conditions for object representability, according to which sharp details are not correctly representable in discrete distance fields. The proposed technique solves this shortcoming by rounding edges and other sharp details. It works at the voxel level without the necessity for reconstruction of continuous object models