LÖVE

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local objects

function addBox(x,y)
  -- TIP: no need for adding everything to objects.somthing - this is hash part of lua table, read about how lua table works
  -- and how it behave as array and as a hash the same time
  local box = {}
  box.body = love.physics.newBody(world, x, y, "dynamic")
  box.shape = love.physics.newRectangleShape(0, 0, 21, 21)
  box.fixture = love.physics.newFixture(box.body, box.shape, 5)
  table.insert(objects, box)
end

function love.load()
  objects = {}

  love.physics.setMeter(64)
  world = love.physics.newWorld(0, 9.81*64, true)

  ground = {}
  ground.body = love.physics.newBody(world, 250, 500)
  ground.shape = love.physics.newRectangleShape(500, 50)
  ground.fixture = love.physics.newFixture(ground.body, ground.shape)
  --  TIP: you can treat ground as any other object in your game
  table.insert(objects, ground)

  love.graphics.setBackgroundColor(255, 255, 255)
  love.window.setMode(500, 500)
end

function love.update(dt)
  world:update(dt)
end

function love.draw()
  love.graphics.setColor(0, 0, 0)
  
  -- TIP: iparis iterate over array elements (the one you've added with table.insert) while pairs would iterate over all elements
  -- you could have those boxes in hash part if you'd use pairs here but then you'd have to make up a new key for each of them 
  -- (e.g. box_1, box_2..., using integers is simpler though)
  for _, box in ipairs(objects) do
    -- TIP: love.graphics.polygon makes more sense then love.graphics.rectangle here because it accepts points instead of positions+size
    -- but don't worry too much, in final game you're probably going to use some sprites anyway.
    love.graphics.polygon("fill", box.body:getWorldPoints(box.shape:getPoints()))
  end
end

function love.mousepressed(x,y,button,istouch)
  if button == 1 then
    addBox(x,y)
  end
end


function love.keypressed(key)
  if key == "escape" then love.event.quit() end
  if key == "r" then love.load() end
  if key == "n" then addBox(20,20) end
end