Ancient simulators included symbolic, visual, physical, and mechanical systems to represent astronomical systems and predict celestial events. Early examples include the sophisticated calendric systems developed in Mesoamerica around the 1st millennium BCE, which codified astronomical observations to model and inform planting and harvesting cycles, and ceremonial timings. The Antikythera mechanism (c. 100 BCE) was an early example of an orrery — a working, mechanical model of the solar system. Comprised of 69 bronze gears housed in a 13-inch wooden box with a crank handle, it could accurately predict the position of the sun, moon, and the planets known at the time. It is generally acknowledged to have been the world’s first analog computer. 

The construction of the Roman aqueducts (c. 312 BCE) applied simulation to hydraulic engineering, combining scale modeling and prototyping with empirical and iterative methods. From 150 CE onwards, the development of medieval globes and maps, including Al-Zarqali's astrolabe and Al-Idrisi’s world map (1154), expanded simulation’s role in geography by enhancing the precision of cartographic details, enabling long-distance exploration and territorial administration.

The Renaissance marked a period of significant refinement in simulation tools, with the creation of mechanical models such as Tycho Brahe's armillary sphere (c. 1580) and Galileo's inclined plane experiments (c. 1603). These tools enabled more accurate simulations of physical phenomena, crucial for validating the laws of celestial and terrestrial mechanics. Leonardo da Vinci’s use of detailed models for architectural and mechanical designs bridged the gap between theoretical science and practical application, enhancing the design process with a higher fidelity of conceptualization and testing. 

During the 17th to 19th centuries, the introduction of war games, notably the Prussian Kriegsspiel, illustrated how simulation could be strategically applied to military training and planning, offering a “safe-to-fail” environment to test battle strategies and tactics. Additionally, the planning of major infrastructure projects like the Erie Canal and exploratory missions like the Lewis and Clark Expedition showcased simulation’s relevance in logistical and operational planning on large scales. Another significant advancement during this period was Kelvin's tide-predicting machine, developed in the late 19th century. This mechanical computer had profound implications for naval planning and the safety of maritime operations, further demonstrating the practical applications of simulation in both military and civilian contexts.

Indeed, it’s fair to say that many of humanity’s most significant discoveries and innovations have been enabled by simulation.

As the field of simulation evolved into the mid-20th century, the transition from mechanical and analog systems to digital computing opened new dimensions in simulation capabilities. A notable example from this era was the Link Trainer, an early flight simulator used for pilot training during and after World War II, which represents the progression from purely mechanical simulators to more integrated systems involving electrical components. The Electronic Numerical Integrator and Compute (ENIAC), developed in 1945, was the first electronic general-purpose computer. It was designed to calculate artillery firing tables for the United States Army's Ballistic Research Laboratory. Its ability to be reprogrammed to solve a full range of computing problems made it a pivotal development in the evolution of digital computers. This marked the start of a new era in which computers could handle increasingly complex simulations, fundamentally transforming numerous fields by providing a powerful tool for analysis and forecasting.