We present a framework for the auralization of room-acoustics computed with discontinuous Galerkin (DG) simulation. Our approach lets us auralize the sound propagation in an enclosure independent of source and listener directivity, using time-domain simulated room impulse responses.Linear combinations of monopoles, surrounding the source location, represent the source directivity. Using the DG solver, we compute the sound field of each monopole separately and store the pressure results, obtained at several microphone positions, in a database. During the post-processing, a synthesis of these precomputed room impulse responses (RIR) yields the sound field of a generic source, using the precalculated monopole contributions. We perform interpolation on the pressure signals captured at the listener position in real-time and apply HRTF as filters to the latter signals to obtain the binaural output. The approach allows incorporating any source and listener directivity to time-domain simulated RIRs.Results show how the binaural output is affected by modifying the number of monopoles representing the source generated sound field. We also analyze the effect of the DG simulation parameters, such as element size and time-step, on the binaural output.