Not really. But it would seem what you'd like to do is have a central "bootstrapper" which would handle all requests and then include the appropriate file(s).
RewriteEngine On
RewriteRule .* index.php
Then you can just look at the URL parts and see what you need.
<?php
// Get the page requested:
$request = substr($_SERVER['REQUEST_URI'], 1); // remove beginning "/"
Then it's a matter of just taking the parts of the request apart and including the proper page:
$parts = explode('/', $request);
include($parts[0] . '.php');
Now, that's very basic, and without any verification, but it would essentially work.