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*Feels* rather inefficient vs. other voxel Unity games I've played but I have no clue re: that sort of thing so...
And to the OP.
It definitely doesn't store EVERY voxel only the ones you explore.
Well I just did some math off the top of my head, since you're a developer I'd be interested what you think of it. I assumed 4 bytes per block, (so 2^2), 128 blocks high (2^6) and an explored area of 1000 by 1000 (so 2^10 by 2^10). that's 2^28 bytes in total, which is 250 MB. Is my estimate of 4 bytes per block that low, or am I forgetting something else?
I am not a developer of this game so I cannot say exactly how much data is stored exactly per chunk.
Now running a small test on my own engine and a lightweight chunk save (Just the file headers and block_ID for each block in a chunk) assuming 1 block = 2 bytes +1 byte per block for segment padding(added to simulate an extra layer of data per block). A region of 256*256*256 or one region of 256 cubic meters = 16777216 voxels.
Which should yield 16777216 bytes @ 1 byte per block or 16.77721 mb.
So @ 3 bytes per block should be 50331648 bytes or 50.331648 mb per region.
Apon running a region save I got a save folder for one whole region. I found the folder to be (35,024,896 bytes) or 35.024896 mb compressed.
(50,331,648 bytes) or 50.331648 mb uncompressed.
Now that is a little over a (1/4km)^3 which is actually quite a large loaded region to be saving or even playing. So based on that a 1024*1024*256 block area would take up 16 times as much data (1024/256 = 4 : 4*4 = 16) and that would be 50.331648mb*16 = 805.306368mb. Hmm that's quite allot of data. You can half that again if you want to assume a world height comparison of 128 blocks but that still brings us to 402.653184mb per 1024*1024*128 area.
I have to say that I'm impressed with what they are doing with the resources they have. I haven't even gotten to adding the damage indexes to the chunk saves in my engine and it costs allot of hard disk space already.
Hope that helps you with your maths on the matter.