Boiling the full batch volume plus estimated boil-off is fine - maybe even preferred. In your case, if you were supposed to have 6 gallons to the fermenter, you can top off with water. If the water has chlorine, treat it with campden to prevent off flavors. (Hopefully, you treated the original boil water as well if it's chlorinated.) Be aware that the traditional bitterness formulas show hop utilization increases in a more dilute boil, so you might have to reduce hops to compensate. That theory is being challenged in recent years, and I haven't seen anything that looks like a definite answer yet. I hope this helps.