Should work with report surface, notice that this is not triangles, assumption is this is a fixed sampling of the surface, sample size is the numpy array matrix and the sample value (i.e. Z ) is the value on the matrix. This means that if you have a set of mesh triangles , you have to projects and sample it.
I think this is what you are after https://trimsh.org/trimesh.voxel.base.html?highlight=matrix#trimesh.voxel.base.VoxelGrid.matrix