A simulator with diverse photorealistic 3D assets is essential for autonomous driving. While reconstructing real-world scenes is promising for photorealistic simulation, generative models further enable the effortless creation of novel objects and scenes. In this talk, I will present our recent progress in 3D-aware image synthesis of objects, humans, and scenes toward generative simulation. I will introduce several 3D-aware generative models, including VoxGRAF for efficient object generation, VeRi3D for controllable human generation, and UrbanGIRAFFE for compositional and controllable urban scene generation.