A method of atlas packing includes receiving a three-dimensional (3D) mesh that includes a plurality of triangles representing surfaces of one or more objects; for each respective triangle, determining a normal of the respective triangle, and categorizing the respective triangle into one of six directions along positive and negative of x-, y-, and z-directions; categorizing triangles in each respective direction into one or more layers orthogonal to the respective direction; for each respective layer, identifying one or more connected components; projecting each respective connected component onto a plane orthogonal to the respective direction to obtain a corresponding projected two-dimensional (2D) connected component; cutting the projected 2D connected component into one or more sub-components; packing the bounding boxes of all sub-components into one or more atlases; and for each respective triangle of each sub-component, copying a texture of a corresponding triangle of the 3D mesh to the respective triangle.