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).

wpilibOldCommands/src/main/native/cpp/commands/WaitUntilCommand.cpp

@@ -18,4 +18,6 @@ WaitUntilCommand::WaitUntilCommand(const wpi::Twine& name, double time)
   m_time = time;
 }
 
-bool WaitUntilCommand::IsFinished() { return Timer::GetMatchTime() >= m_time; }
+bool WaitUntilCommand::IsFinished() {
+  return Timer::GetMatchTime() >= m_time;
+}