You seem to be romanticising these times quite a bit, actually. Yes, there were amazing characters throughout the history - but so were the awful ones. Humans haven't changed that much. In ancient (and not so ancient) times - thousands of slaves kept to ascertain fortune of the few in power, early Christians murdered for petty entertainment on the arenas. Later, in the era of Christianity (and not only) - wars organised for sake of conquering 'the unbelievers' (most often due to their riches). World exploration - ending in murder of so many natives due to greed. Early wars? And why were they organised? Domination over the weak works in the same way that cyber-bullying today does, simply on a larger scale - it creates a shot of good feeling to have power over someone while you feel you have none of yours.
There were good people, just like there were evil ones. There were also simple people that just minded their own business and didn't make waves. Just like now. If you look around, you'll still find inspiring people - those fighting for equality of minorities, those working in poor areas, healing or building, or designing, those speaking up about climate change and protection of the week in the war-torn countries - you simply have to look around. In the country I am in now, for example, there is an uproar concerning the LGBT community. The government and most people started a campaign against them and showed so much cruelty and unreasonable hatred that it's simply shocking. No adoption by LGBT pairs as it is in many other countries, bah, not even homosexual marriage - because 'it's unnatural and different'. And yet, there are still individuals willing to understand - not being LGBT, yet speaking up for them - fighting in the only way allowed in these times.
What about volunteers working in animal rescue? What about doctors deciding to go to dangerous regions to heal in poor conditions? What about architects travelling between slums of different countries, voluntarily constructing structures to ensure a greater well-being of the people? What about teachers working in schools in awful-awful conditions? What of nature reserves? Of charities?
What I mean to say - the will you speak of still exists. However, it is the person's choice if they decide to implement it in a meaningful way and for every person that does so, there are many more that won't - because being idle is easy and human nature is like water - always prefers the easiest way through. Being something else, something more is difficult. Everything comes down to a simple every-day choice: are you someone that does what is easy? or are you someone that does what is right? Each little choice influences your will - or creates specific neural pathways in your brain if you so prefer. There are rarely any scarce but great choices that rapidly change people - but there are thousands of little ones that do it so slowly and regularly, that you don't even realise it.
The ancient world was very rough. Gladiator fights, crucifixion, abuse of women, children, animals-----not romanticizing it at all. My point is despite their horrors, there were a number of people who espoused to value a very deep kind of virtue in the face of war, pestilence, famine, slavery, etc etc etc . Believe me, I am not one to think the ancient world was filled with musing men gliding around agorae.