Vegetable Pasta Salad with Goat Cheese

6 ounces uncooked strozzapreti or other short pasta

1 1/2 cups (2-inch) cut asparagus

3 tablespoons white wine vinegar

1 teaspoon sugar

1/2 teaspoon salt

1/4 teaspoon ground red pepper

1/4 cup extra-virgin olive oil

1 cup sliced cremini mushrooms

1/2 cup chopped red bell pepper

1/4 cup sliced green onions

3 tablespoons small fresh basil leaves

2 tablespoons halved pitted kalamata olives

2 tablespoons fresh oregano leaves

2 tablespoons flat-leaf parsley leaves

3 ounces goat or feta cheese, sliced

2 tablespoons coarsely chopped walnuts, toasted