Consistent tessellation

Say I have two distinct, solid 3D bodies (each is a separate TopoDS_Shape) that a share a surface. As a simple example, this could be two concentric spheres, where the outer sphere has a spherical "hole" in it where the inner sphere sits. I'd like to tessellate these shapes such that the shared boundary gets tessellated exactly the same. This way, when I pass the tessellated bodies off to a mesher or visualizer, they don't overlap in any way.

What's the right approach for this? I had hoped I could tessellate them both together, but the class BRepMesh_IncrementalMesh seems to only take a single TopoDS_Shape, not a compound shape. I feel like this must be fairly common and that I'm probably just thinking about it wrong. Should I instead be merging these bodies into one TopoDS_Shape, tessellating it, and somehow keeping track of the two underlying volumes? I should note that I need to keep track of the different shapes because each will need to be colored different in the visualizer.

Any help on how to approach this would be greatly appreciated!