Using Eclipse with the CDT plugin will allow you to use it for C/C++ projects, and you can tell it to use Makefiles to build your project. You just have to set up a Makefile project. You might have to tell it to let you manage the Makefiles rather than have it do it - I don't remember off the top of my head - but there should be no problem in setting up Eclipse to use pre-existing Makefiles to build a pre-existing project. I've done it before.
You will have to tell it where the include directories are and what macros to assume are defined for things like code completion to work correctly (I don't know of any way for Eclipse to figure that out for you), so there is definitely some set up that you'll have to do. But it definitely works.
Just grab the C++ version of Eclipse from their site (it comes with all of the appropriate C/C++ plugins so that you don't have to track them down), and you can look at the CDT site for documentation, frequently asked questions, etc.
Edit: I don't know how well you can get it to work with configure though. That's not something that I've tried. Makefiles work just fine though.