Extrude/Sweep of a solid?

Hola~

I have a TopoDS_Solid. I have a starting and ending location. I want to connect (word I would use is extrude) along a linear path between the start and end point of the solid. The sweep (and friends) all have exceptions so they do not work on solids. What is the right way to extrude a solid along a linear path? Right now, I'm running recursive boolean (BOPAlgo_BOP) operations as a I step the shape along the path which works with a sufficiently small step, but feels super inefficient.

Thanks in advance.

MO