I am pleased with how https://github.com/ycm-core/YouCompleteMe operates but is there any way for it to recognize or search includes files?

Say I have a struct in a header file:

typdef struct {
  int32_t var1;
  int32_t var2;
} foo_t;

and I include the file containing that struct for use like this:

int main() {
  foo_t foo;

  foo.    // should get a suggestion for var1 or var2 here

}

Is this possible without specifying a special config for every project and it’s directory structure? I had assumed the utility would grep for relevant symbols based on included files as well.