Does C++ virtual function call on derived object go through vtable?

In the following code, it calls a virtual function foo via a pointer to a derived object. Will this call go through the vtable or will it call B::foo directly?

If it goes via a vtable, what would be a C++ idiomatic way of making it call B::foo directly? I know that in this case I am always pointing to a B.

Class A
{
    public:
        virtual void foo() {}
};

class B : public A
{
    public:
        virtual void foo() {}
};


int main()
{
    B* b = new B();
    b->foo();
}