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).

wpimath/src/main/native/include/frc/estimator/AngleStatistics.h

@@ -14,7 +14,9 @@ double NormalizeAngle(double angle) {
   static constexpr double tau = 2 * wpi::math::pi;
 
   angle -= std::floor(angle / tau) * tau;
-  if (angle > wpi::math::pi) angle -= tau;
+  if (angle > wpi::math::pi) {
+    angle -= tau;
+  }
   return angle;
 }
 }  // namespace