BJJ warmup for me is currently about 10m of jogging forward, jogging backward, jogging sideways, bearcrawls, crabwalks, shrimping, bridging, breakfalls, standups, pushups, planks, leg circles. This is for a 60 minute class, and I think it's pretty useful considering the warmup includes actual techniques, and it's timed so you have to learn to keep pace.
Hung Ga warmup is 10m isometrics to warm up the muscles and sinews a bit, then 20m on 18 basic drills (stancework, footwork drills, striking drills, combinations), for a 2 hour practice.
Any kind of good shadowboxing you can learn is a great part of a warmup.
one thing I picked up from aikido and judo is simply finding various ways to make guys go from standing, to ground, to standing is about the most efficient way to get the bold flowing. When our aikido class is big I'll have everyone shrimp in place, with and emphasis on transition quickness... good space saver and gets ya warm as well.
Our wdenesday is five minutes on a crash mat with a plate doing round the worlds squat an press jump squats etc. Five minutes with a floor to cealing bag running around the room again squats or get ups.
And then five minutes with a medicine ball doing abs. 2 rounds of everything.