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).

wpilibcIntegrationTests/src/main/native/cpp/NotifierTest.cpp

@@ -14,7 +14,9 @@ using namespace frc;
 
 unsigned notifierCounter;
 
-void notifierHandler(void*) { notifierCounter++; }
+void notifierHandler(void*) {
+  notifierCounter++;
+}
 
 /**
  * Test if the Wait function works