Only update force mode scaling and damping when needed

[urrsk]

To avoid any impact of calling the scaling or damping methods if no change to these values are needed.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 77.10%. Comparing base (3b63610) to head (3d2935a).
⚠️ Report is 4 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #378      +/-   ##
==========================================
- Coverage   77.86%   77.10%   -0.77%     
==========================================
  Files          92       92              
  Lines        4166     4162       -4     
  Branches      461      461              
==========================================
- Hits         3244     3209      -35     
- Misses        684      714      +30     
- Partials      238      239       +1     

Flag	Coverage Δ
start_ursim	82.15% <ø> (-2.04%)	⬇️
ur20-latest	75.60% <ø> (-0.13%)	⬇️
ur5-3.14.3	76.20% <ø> (+0.02%)	⬆️
ur5e-10.7.0	?
ur5e-5.9.4	76.06% <ø> (-0.03%)	⬇️

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[urfeex]

That seems fair and tested that it works properly.

[urfeex]

The original problem was resolved by #383. Therefore closing this.