xFullCourtTenniSx offered a very succinct and accurate description of an effective service motion where the feet may leave the ground. Here the jump is a by-product of a vigorous, yet mechanically correct technique on serve.
I would concur that purposefully jumping in hopes of adding energy to the serve is both physically taxing and ineffective, at least as compared to the effort applied.
The old footage, shot from a vantage above the players, does not afford a detailed view of their service motion or any of their technique, for that matter. It does demonstrate nicely the athletic grace and wide array of strokes exhibited by players of that era.
While unfamiliar with the tournament depicted in the OP's video, it does appear that the playing surface is clay. That would account for the impression that the players appeared to use placement rather than power as a weapon on serve. No one from that period would have attempted a power based game on clay.
Rosewall could serve pretty well in his day, despite his size. Remember that by the time he met Connors, Rosewall was in the twilight of his career and Connors was already establishing himself as one of the game's great returners.
The best tennis match I ever saw played, from any era, was the 1974 WCT Final in Dallas, between Laver and Rosewall. It was played on a hard court, best of five sets, with no tie-breaker in the fifth.
As I recall, Roscoe Tanner held the world's record for fastest serve for quite some time. IIRC, the record he set was either a 140 mph or 144 mph serve. His motion was very similar to Roddick's and Roscoe was just as big. I'm not sure whether he would have set his record with a wood racquet. As aluminum racquets were emerging, Roscoe was sponsored by PDP, a now defunct company. They made an aluminum racquet and also a fiberglass composite. I had the opportunity to hit with both and they were absolutely huge on serve.
Reportedly an even bigger server was Lew Hoad, another Aussie. Unfortunately, Hoad had to retire from tennis early with a bad back, around 1959, I think. All of the Aussies from the day spoke about Hoad with a bit of awe.
It was a different game back then, but the strokes could be just as huge. Just because modern techniques are a little better suited for today's style of play doesn't mean the more traditional strokes were any less solid or effective. It depends, then as now, on the player.
Cheers!