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).

wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp

@@ -27,7 +27,9 @@ TEST(SimDeviceSimTests, TestEnumerateDevices) {
   bool foundit = false;
   SimDeviceSim::EnumerateDevices(
       "te", [&](const char* name, HAL_SimDeviceHandle handle) {
-        if (wpi::StringRef(name) == "test") foundit = true;
+        if (wpi::StringRef(name) == "test") {
+          foundit = true;
+        }
       });
   EXPECT_TRUE(foundit);
 }