2 tablespoons olive oil
5 sweet Italian sausage links
1 small yellow squash, finely chopped
1 small zucchini, finely chopped
1/2 red bell pepper, diced
1 small onion, finely diced
2 teaspoons minced garlic
1 (24-ounce) jar prepared meat sauce
1 (1 pound) box rigatoni pasta
8 ounced mozzarella cheese, shredded
1 cup finely shredded Parmesan cheese