Add braces to C++ single-line loops and conditionals (NFC) (#2973)

This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).

hal/src/main/native/sim/HALInitializer.cpp

@@ -9,6 +9,8 @@
 namespace hal {
 namespace init {
 std::atomic_bool HAL_IsInitialized{false};
-void RunInitialize() { HAL_Initialize(500, 0); }
+void RunInitialize() {
+  HAL_Initialize(500, 0);
+}
 }  // namespace init
 }  // namespace hal