Since I started playing, I've tried to be very conscious of my technique, because the thought of repetitive stress injuries horrifies me. Also, coming as close as you can to perfect technique expands the potential for how good your facility can get.
Due to my honing this awareness continuously and the resources on technique available nowadays, I've been able to get myself progressively closer to minimum impact to my body. For example, I used to get callouses on my fingers, so I focused on practicing a loose grip and allowing the sticks to rebound. I'd get some shoulder pain, so I focused on keeping my shoulders down. Back pain, focused on keeping good posture, with a straight back. So on and so forth.
It's also important to focus on relaxing. Of course we have to contract our muscles to make the movements necessary to drumming. However, I try to pay attention to tensing the correct muscles, and only long enough to execute a stroke. Also, to pay attention to what the times are when I'm more likely to tense up. Like, in a live playing or recording situation, this is way more likely to happen, so it's good to check yourself and actively try to relax. In these kinds of "stressful" situations, it's not even necessarily my playing muscles that will be tense, but can include the neck, shoulders, biceps....
Your setup is also important. It's a good idea to sit high enough to have your legs slope down a bit, or at most be parallel to the ground, but never slope up. This will also allow you to have your snare low enough where you don't have to raise your shoulder unnaturally to hit it. I keep my high-hat kinda low for the same reason. My cymbals aren't very high, and they're angled, so I can hit them with glancing blows and through mostly raising my forearms. Keep your pedals in a position where your legs are in a natural sitting position, and your body is centered between them. You don't want to have your legs too far apart, or one at a different or weird angle from the other.
So, basically I've found that constantly paying attention to doing everything as ergonomically as possible has allowed me to have no pain while drumming, aside from regular old fatigue. One of my bands plays loud and fast psycho-billy punk rock, and I'm never in any pain after playing. If you experience pain, you want to use that as messages from your body telling you what needs to be fixed.