Is there an optimal way to pack a suitcase?

I was packing my suitcases for a trip and I was trying to pack my stuff in. I remember seeing online and hearing here and there that there was optimal ways of packing your clothes, like rolling them for example..

Is it, though ? If I put all my clothes unfolded, as flat as possible, layered on top of each other like sheets of paper, there will be less empty space between each item, but it I roll them, there will be empty space between each cylinder.

What if I just toss it randomly ? Will it not behave like a liquid and fill every little empty space by itself just because of the pressure ?

What do you Reddit physicians and mathematicians feel about... Packing a suitcase?