In the term of SEO is this matter www.mydomain.com/hello-world vs. www.mydomain.com/hello-world.html which one is better? or its doesnt matter
the second. Actually without the .html good would see hello-world as a directory (folder) on your site. you definitely need article-title.html
This one is better www.mydomain.com/hello-world.html. First one is look like a directory not the page.
www.mydomain.com/hello-world is better in terms of directory structure and PR, like for example if you want to change your site pages from .html to .php, then with this structure, you wont have any problem.