I've managed to get the particles to follow a goal object, so making an object out of blocks and setting each block as a target for a group of particles has the effect of making a morphing object made of particles. Once the base object is hidden, the illusion is complete. The particles can be told to collide with other objects, so adding the relevant scenery to this list of collidable things makes an object that morphs around the scenery.
There are some problems with this system, notably that the particles get stuck if their goal objects fly perfectly straight through a perpendicular surface, but this should only happen in my test so hopefully particles won't be left behind once their goal is interestingly animated.
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