Plot the successive positions of two colliding rectangles


I'm doing my Master Thesis in Mechanical Engineering. Currently I'm developing a 2D impact model. I've already developod the code for the contact detection and to calculate the collision forces. The thing is, I need to show it "visually" on the screen.

Does anyone have any ideia on how to plot the successive positions of two rectangles (most of the time they are rotated and not aligned with the vertical/horizontal axes)?

Greetings from Portugal,
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