To go to a straight pipe where the muffler was is easy or hard depending on if it was welded together or clamped.
If it was clamped, clime under and mesure the length of the muffler from end of pipe to other. Talk to your local parts store or muffler shop might be easier and get a 4" pipe cut to lenght with a 4" OD on one side and a 4" ID on the other cut to the length you mesuered off the muffler. Clamp it where the muffler used to be.
If it is welded, my suggestion is take it to the muffler shop and have them weld a new pipe in. That is if they are not so uptight they just tell you no. I don't know what the emission laws are in your state.