Therefore, the proposed chapter will first present such diversity in order to clearly understand the crucial needs for simulation and the involved consequences. Moreover, our goal is to keep all these descriptions along with existing methods and possibilities, within a common frame. Thus, responding to the presented needs,we have developed a framework for simulators allowing both underwater scene design and computational simulation engine choices. More precisely, this generic framework provides the reader with a common and simple software system in which various sensors, environments and computational engines can be plugged in. Subsequent sections of the chapter will then describe this common representation with all the phenomena to be considered and the problems to be answered in order to produce realistic simulated sonar data. We will introduce ray and tube engines in order to collect exhaustively all the backscattered acoustic waves resulting from scene interactions with the transmitting acoustic wave. This allows mainly imaging sonars to be simulated (sidescan, front-looking sonars), as only energy is considered for these engines. Another engine will then be introduced to allow the simulation of a full signal (both intensity and phase). The new resulting local signal/scene interactions will be explained and results shown through the simulation of an interferometry system. Finally, the chapter objectives are twofold: presenting a generic framework for simulation while dealing with actual, specific sensors features and chosen acoustic models.