P.S. I don't know where you're from, but in most countries, 20-40$ daily isn't small money, it's an average or above-average salary.
Here in my area $40 is what most people earn in a single month. And it is even worse in the neighboring countries. If you earn $40 per day, then you will be considered as the most elite among the residents. And since the living expenses are low, the people are able to survive with such small amounts. On the other hand, even if you receive $400 per month in a country such as the United States or Germany, you will be homeless and without food for most of the time.
You know how rich you are should always be evaluated by where you live because if you live in Asia and you are rich enough that shouldn't make you feel poor in comparison to USA or some other rich country. I mean the wages you earn are based on the GDP of your country. Consider how much is the monthly expense of your family and compare it to the rich country like USA it simply means that you are earning lower as compared to them but then things are cheaper too in comparison.
Rich should give money to poor? That's how it should be but that is never going to happen. One thing if ever I believe should happen is, there should be highest tax on the biggest earners and lowest possible tax on the lower earning people which ultimately helps the poor earn more and cuts of some extra from the rich and serves the same purpose as rich giving to the poor, indirectly.