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The clustering and classification of fracture orientation data are crucial tasks in geotechnical engineering and rock engineering design. The explicit simulation of fracture orientations is always applied to compensate for the lack of direct measurements over the entire rock mass. In this study, a single step approach based on the theory of finite mixture models, where the component distributions are Fisher distributions, is proposed for automatic clustering and simulation of fracture orientation data. In the proposed workflow, the spherical K-means algorithm is applied to select the initial cluster centers, and the component-wise expectation-maximization algorithm using the minimum message length criterion is used to automatically determine the optimal number of fracture sets. An additional advantage of the proposed method is the representation of orientation data using a full sphere, instead of the conventional hemispherical characterization. The use of a full spherical representation effectively solves the issue of clustering for fractures with high dip angles. In addition, the calculation process of the mean direction is also simplified. The effectiveness of the model-based clustering method is tested with a complicated artificial data set and two real world data sets. Cluster validity is introduced to evaluate the clustering results. In addition, two other clustering algorithms are also presented for comparison. The results demonstrate that the proposed method can successfully detect the optimal number of clusters, and the parameters of the distributions are well estimated. In addition, the proposed method also exhibits good computational performance. [ABSTRACT FROM AUTHOR]