diff --git a/src/mouse_joint.c b/src/mouse_joint.c
index 418ab620..ce3f2161 100644
--- a/src/mouse_joint.c
+++ b/src/mouse_joint.c
@@ -49,11 +49,6 @@ void b2PrepareMouse(b2Joint* base, b2StepContext* context)
 
 	b2Vec2 cB = bodyB->position;
 	b2Rot qB = bodyB->transform.q;
-
-	b2SolverBody* solverBodyB = context->solverBodies + joint->indexB;
-	b2Vec2 vB = solverBodyB->linearVelocity;
-	float wB = solverBodyB->angularVelocity;
-
 	float mB = bodyB->invMass;
 	float iB = bodyB->invI;
 
@@ -88,23 +83,6 @@ void b2PrepareMouse(b2Joint* base, b2StepContext* context)
 
 	joint->C = b2Add(cB, b2Sub(joint->rB, joint->targetA));
 	joint->C = b2MulSV(joint->beta, joint->C);
-
-	// Cheat with some damping
-	wB *= B2_MAX(0.0f, 1.0f - 0.02f * (60.0f * h));
-
-	if (context->enableWarmStarting)
-	{
-		joint->impulse = b2MulSV(context->dtRatio, joint->impulse);
-		vB = b2MulAdd(vB, mB, joint->impulse);
-		wB += iB * b2Cross(joint->rB, joint->impulse);
-	}
-	else
-	{
-		joint->impulse = b2Vec2_zero;
-	}
-
-	solverBodyB->linearVelocity = vB;
-	solverBodyB->angularVelocity = wB;
 }
 
 void b2WarmStartMouse(b2Joint* base, b2StepContext* context)
diff --git a/src/prismatic_joint.c b/src/prismatic_joint.c
index cd91b057..3a510f2e 100644
--- a/src/prismatic_joint.c
+++ b/src/prismatic_joint.c
@@ -81,17 +81,10 @@ void b2PreparePrismatic(b2Joint* base, b2StepContext* context)
 	joint->angleA = bodyA->angle;
 	joint->angleB = bodyB->angle;
 
-	// This is a dummy body to represent a static body since static bodies don't have a solver body.
-	b2SolverBody dummyBody = {0};
-
-	// Note: must warm start solver bodies
-	b2SolverBody* solverBodyA = joint->indexA == B2_NULL_INDEX ? &dummyBody : context->solverBodies + joint->indexA;
-	float mA = solverBodyA->invMass;
-	float iA = solverBodyA->invI;
-
-	b2SolverBody* solverBodyB = joint->indexB == B2_NULL_INDEX ? &dummyBody : context->solverBodies + joint->indexB;
-	float mB = solverBodyB->invMass;
-	float iB = solverBodyB->invI;
+	float mA = bodyA->invMass;
+	float iA = bodyA->invI;
+	float mB = bodyB->invMass;
+	float iB = bodyB->invI;
 
 	b2Rot qA = bodyA->transform.q;
 	b2Rot qB = bodyB->transform.q;
@@ -129,36 +122,6 @@ void b2PreparePrismatic(b2Joint* base, b2StepContext* context)
 	{
 		joint->motorImpulse = 0.0f;
 	}
-
-	if (context->enableWarmStarting)
-	{
-		float dtRatio = context->dtRatio;
-
-		// Soft step works best when bilateral constraints have no warm starting.
-		joint->impulse = b2Vec2_zero;
-		joint->motorImpulse *= dtRatio;
-		joint->lowerImpulse *= dtRatio;
-		joint->upperImpulse *= dtRatio;
-
-		float axialImpulse = joint->motorImpulse + joint->lowerImpulse - joint->upperImpulse;
-\
-		b2Vec2 P = b2MulSV(axialImpulse, axis);
-		float LA = axialImpulse * a1;
-		float LB = axialImpulse * a2;
-
-		solverBodyA->linearVelocity = b2MulSub(solverBodyA->linearVelocity, mA, P);
-		solverBodyA->angularVelocity -= iA * LA;
-
-		solverBodyB->linearVelocity = b2MulAdd(solverBodyB->linearVelocity, mB, P);
-		solverBodyB->angularVelocity += iB * LB;
-	}
-	else
-	{
-		joint->impulse = b2Vec2_zero;
-		joint->motorImpulse = 0.0f;
-		joint->lowerImpulse = 0.0f;
-		joint->upperImpulse = 0.0f;
-	}
 }
 
 void b2WarmStartPrismatic(b2Joint* base, b2StepContext* context)
diff --git a/src/revolute_joint.c b/src/revolute_joint.c
index 0ac0673b..632c3a3f 100644
--- a/src/revolute_joint.c
+++ b/src/revolute_joint.c
@@ -48,15 +48,8 @@ void b2PrepareRevolute(b2Joint* base, b2StepContext* context)
 	joint->angleA = bodyA->angle;
 	joint->angleB = bodyB->angle;
 
-	// This is a dummy body to represent a static body since static bodies don't have a solver body.
-	b2SolverBody dummyBody = {0};
-
-	// Note: must warm start solver bodies
-	b2SolverBody* solverBodyA = joint->indexA == B2_NULL_INDEX ? &dummyBody : context->solverBodies + joint->indexA;
-	float iA = solverBodyA->invI;
-
-	b2SolverBody* solverBodyB = joint->indexB == B2_NULL_INDEX ? &dummyBody : context->solverBodies + joint->indexB;
-	float iB = solverBodyB->invI;
+	float iA = bodyA->invI;
+	float iB = bodyB->invI;
 
 	joint->axialMass = iA + iB;
 	bool fixedRotation;