Nope, it won't work, unless you're using mod_rewrite or I'm not understanding what you're looking to do (very much entirely possible).
You're looking to do this: domain.com/this instead of this: domain.com/index.php/this
You'll have to remember, without mod_rewrite and .htaccess, domain.com/this points to a directory called this. And Apache will look in it to see if there's an index.[php/htm/html] file. If its not found, you'll get a 404 error.
What mod_rewrite and .htaccess do is setup and change the rules a bit. In .htaccess, you can tell Apache to try to take "test" and match it against your set of rules (they're like regular expressions). If there's a match, it'll rebuild the URL and run that rebuilt URL instead. That's what you need to do here. You need to setup a rule which catches URLs like domain.com/test and rebuilds it to be domain.com/index.php/test (or whatever you'd like it to be).
Hitting up google or here WILL provide a ton of examples on how to do this.
