Could the Bifrost Bridge be used to "extract" someone from a secure location?

In the Marvel's Agent's of S.H.I.E.L.D. Season 2 episode "Who You Really Are", Sif comes to Earth on a mission:

This raises an interesting question about the nature of the Bifrost Bridge between Midgard and Asgard. We know the Bridge has an effectively infinite range, and that it can even cross dimensions. We know that Heimdall can "see" people on Midgard, or elsewhere, and open the Bridge for them for the return trip.

However, in all of the cases we've seen in the MCU so far, two things have always been true:

1. The person using the Bridge has been a willing participant, or else accompanied by one (e.g. when Sif took Lorelei back in Season One)


2. The bridge opened a portal to the surface of another planet.

But, assuming Heimdall could find them, could he open the bridge, and forcibly extract a person back to Asgard without their consent? Would this work even if the person was hidden inside a building, or deep underground, without causing physical damage to the intervening walls or Earth's crust?

Since we've never seen this happen in the MCU, I'm particularly interested to know if something like this has been done in the graphic novels.