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_ws_server/src/main/native/cpp/HALSimWeb.cpp

@@ -96,7 +96,9 @@ void HALSimWeb::Start() {
   // when we get a connection, accept it and start reading
   m_server->connection.connect([this, srv = m_server.get()] {
     auto tcp = srv->Accept();
-    if (!tcp) return;
+    if (!tcp) {
+      return;
+    }
 
     tcp->SetNoDelay(true);