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).

simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp

@@ -96,8 +96,9 @@ static bool RelayAnyInitialized() {
   static const int32_t num = HAL_GetNumRelayHeaders();
   for (int32_t i = 0; i < num; ++i) {
     if (HALSIM_GetRelayInitializedForward(i) ||
-        HALSIM_GetRelayInitializedReverse(i))
+        HALSIM_GetRelayInitializedReverse(i)) {
       return true;
+    }
   }
   return false;
 }