I don't warm up for nearly as long as everyone else here, and sometimes I don't warm up at all; for example, when I'm at work sometimes I'll use the restroom to perform some stretches (I don't spend too long on them though, just 20 sec tug in 3 directions).
The way I warm up is with the heater in my room. I usually just keep my junk close to it for a few minutes (it gets hot pretty fast) and then I'll go straight into exercises.
I actually work out with pretty high intensity too, but I've never suffered any injuries or even symptoms (spots, swelling, stretch marks, etc.). Maybe I just have a dick made of (bio)steel?