You could consider ctags, available on many platforms. The output is easily parsable, and full of info you required.
more info
For your question, I had to look to the many options available, and after a little I found it. For example:
ctags -N -x --c-kinds=+p crowd.*
produces this output
CrowdSim         class        44 crowd.h          class CrowdSim
CrowdSim         function     47 crowd.h          CrowdSim( const std::string& contentDir ) : _contentDir( contentDir ) {}
Particle         function     35 crowd.h          Particle()
Particle         struct       25 crowd.h          struct Particle
_contentDir      member       56 crowd.h          std::string _contentDir;
_crowd_H_        macro        18 crowd.h          #define _crowd_H_
_particles       member       57 crowd.h          std::vector< Particle > _particles;
animTime         member       32 crowd.h          float animTime;
chooseDestination function     24 crowd.cpp        void CrowdSim::chooseDestination( Particle &p )
chooseDestination prototype    53 crowd.h          void chooseDestination( Particle &p );
dx               member       28 crowd.h          float dx, dz; // Destination position
dz               member       28 crowd.h          float dx, dz; // Destination position
fx               member       29 crowd.h          float fx, fz; // Force on particle
fz               member       29 crowd.h          float fx, fz; // Force on particle
init             function     35 crowd.cpp        void CrowdSim::init()
init             prototype    49 crowd.h          void init();
node             member       31 crowd.h          H3DNode node;
ox               member       30 crowd.h          float ox, oz; // Orientation vector
oz               member       30 crowd.h          float ox, oz; // Orientation vector
px               member       27 crowd.h          float px, pz; // Current postition
pz               member       27 crowd.h          float px, pz; // Current postition
update           function     68 crowd.cpp        void CrowdSim::update( float fps )
update           prototype    50 crowd.h          void update( float fps );
(note: -x is only for easy user inspection)