The lorentz force is prescribed in Einstein's Special Relativity...using something called the "electromagnetif field tensor." Don't ask me what a tensor is--part of some higher math that I don't know anything about. Search on like mathworld for more info. But the results of this tensor-thingy make quasi-sense...as does the lorentz force (F = q(E + v X B), X being cross-product).
I don't believe Maxwell's Eqns can be used to describe the interaction btwn 2 magnets. IIRC, you need much much much more complicated math/physics to figure that one out. Methinks it's not so much how the magnets interact, but how their fields interact...and how pressures/stresses are transmitted by the field (somethign tells me this has got to have somethign to do with tensors). I mean, that's how the the interaction between a magnetic dipole & a uniform B-field were described to me...which can be kinda related to the topic at hand (i.e. if the dipole were extremely small and placed extremely close to a permanent magnet where the B-field is *nearly* uniform).
Of course, I don't really think that's what you're looking for...
Another thought is that the interaction may exist at the quantum level...i mean, 'dipole groupings' (i forgot the real name) within ferromagnets is a product of quantum mechanics that isn't fully understood...*shrugs*
I'm just kinda thinking out loud here--maybe something I said is useful? lol...my experience w/e&m is pretty limited, lol.
-Eric