I often wonder the same. As someone with a hobby of making unpowered gliders from balsa wood and laminating sheets, I often wonder why such simple contraptions (I can make very nice gliders with around 20 pieces of wood and one sheet) weren't discovered using easily available woods and paper many centuries ago and extrapolated to bigger machines with fabric and wooden struts. Seems that the raw materials would have been available in Roman times and only very minimal amounts of theory (as opposed to trial and error tinkering) are required. Truly remarkable that gliding firebombs and the like were never invented for warfare.