Hide php from the address bar
 

I know that in the addres bar it reads home.php, cart.php,checkout.php and etc. But does anyone know how to hid the php file from the address bar.

So mywebsite.com/shopping/cart.php = mywebsite.com/shopping
mywebsite.com/shopping/home.php?cat=23 = mywebsite.com/shopping/?cat=23

The php is hidded from the address bar.