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Rigid body dynamics joints
Sorry, I should've included the article name. It's "Advanced character physics" by Thomas Jakobsen. It's pretty well googlable.
Conservation of Energy and the Poynting Theorem
As I can't comment on the question above, I have to do it here: Dear ganzewoort, perhaps you should have commented here, rather than modyfying your question, thus disrupting the chronology of posts. As of the subject matter, you could have clearly read in my reply that I basically agree with you. Poyinting vector is rendundant in your sense. However, in the same sense the energy conservation law is also redundant, as it is fully derived from Maxwell equations, therefore states nothing new.