Recent studies of athermal systems such as dry grains and dense, non-Brownian suspensions have shown that shear can lead to solidification through the process of shear jamming in grains and discontinuous shear thickening in suspensions. The similarities observed between these two distinct phenomena suggest that the physical processes leading to shear-induced rigidity in athermal materials are universal. We present a non-equilibrium statistical mechanics model, which exhibits the phenomenology of these shear-driven transitions: shear jamming and discontinuous shear thickening in different regions of the predicted phase diagram. Our analysis identifies the crucial physical processes underlying shear-driven rigidity transitions, and clarifies the distinct roles played by shearing forces and the density of grains.