This paper deals with the development of a multisensory virtual environment with visual, haptic, and aural feedbacks for simulating the five-axis CNC milling process. The paper focuses on the haptic and aural rendering of the virtual milling process. Haptic rendering provides the user with kinesthetic and tactile information. Kinesthetic information is displayed by the cutting force of a milling machine. The tactile information is conveyed by the haptic texturing. Aural rendering simulates the machine sound and provides the aural feedback to the user. Using ideas from the concepts of image-based rendering, haptic and aural rendering are accelerated by pre-sampling related environment’s parameters in a perception-dependent way.

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