Suppressing enclosed voids in topology optimization is an important problem in design for manufacturing. The method of Poisson equation-based scalar field constraint (i.e., Poisson method) can effectively address this problem. Nevertheless, the numerical performance of this method is not well understood. This paper investigates the numerical functionality and characteristics of the Poisson method. An electrostatic model is developed to describe this method instead of the previous temperature model. Moreover, an efficient constraint scheme is proposed, which combines density filtering, Heavisid...