Write a php code to be seo permalink url according to current htaccess

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Below is example a famous \[code\].htaccess\[/code\]\[code\]RewriteEngine OnRewriteBase /RewriteCond %{REQUEST_FILENAME} !-fRewriteCond %{REQUEST_FILENAME} !-dRewriteRule . /index.php [L]\[/code\]What I know here, the result for URL will be \[code\]http://domain.com/about.php will be http://domain.com/about/http://domain.com/contact.php will be http://domain.com/contact/\[/code\]Example my URL is \[code\]http://domain.com/page.php?id=1\[/code\]How to write a code in PHP which the URL will be \[code\]http://domain.com/page-name/\[/code\] according to the \[code\].htaccess\[/code\] above.