It's very good that you ask this question. There was always and always will be scarcity in the world. Everyone wants more than it's available right now. To avoid poverty we need ways to save, build capital and insure ourselves against rainy days. This won't eliminate poverty, but nor rape and murder will help removing it.

The only way to know how to rationally use resources is to do so without acts of violence. Then we can talk about how to make sure that most people have something useful to do and have enough money to feed themselves.