Правильное ЧПУ для сайта

<?php
    function getUri() {
        $requestURI = explode('/', $_SERVER['REQUEST_URI']);
        $scriptName = explode('/',$_SERVER['SCRIPT_NAME']);

        for($i= 0;$i < sizeof($scriptName);$i++) {
            if ($requestURI[$i] == $scriptName[$i]) {
                unset($requestURI[$i]);
            }
        }
        
        $uri = array_values($requestURI);

        if(isset($uri[0])) { $pos = strrpos($uri[0], "?"); if ($pos === false) { $uri[0] = sanitizeURL($uri[0]); } else { $uri[0] = sanitizeURL(substr($uri[0], 0, $pos)); } }
        if(isset($uri[1])) { $pos = strrpos($uri[1], "?"); if ($pos === false) { $uri[1] = sanitizeURL($uri[1]); } else { $uri[1] = sanitizeURL(substr($uri[1], 0, $pos)); } }
        if(isset($uri[2])) { $pos = strrpos($uri[2], "?"); if ($pos === false) { $uri[2] = sanitizeURL($uri[2]); } else { $uri[2] = sanitizeURL(substr($uri[2], 0, $pos)); } }
        if(isset($uri[3])) { $pos = strrpos($uri[3], "?"); if ($pos === false) { $uri[3] = sanitizeURL($uri[3]); } else { $uri[3] = sanitizeURL(substr($uri[3], 0, $pos)); } }
        if(isset($uri[4])) { $pos = strrpos($uri[4], "?"); if ($pos === false) { $uri[4] = sanitizeURL($uri[4]); } else { $uri[4] = sanitizeURL(substr($uri[4], 0, $pos)); } }
        if(isset($uri[5])) { $pos = strrpos($uri[5], "?"); if ($pos === false) { $uri[5] = sanitizeURL($uri[5]); } else { $uri[5] = sanitizeURL(substr($uri[5], 0, $pos)); } }

        return $uri;
    }
    
    function sanitizeURL($url) {
         $url = trim($url);
         $url = rawurldecode($url);
         $url = str_replace(array('--','&quot;','!','@','#','$','%','^','*','(',')','+','{','}','|',':','"','<','>',
                                  '[',']','\\',';',"'",',','/','*','+','~','`','laquo','raquo',']>','&#8216;','&#8217;','&#8220;' ,'&#8221;'
,'&#8211;' ,'&#8212;'),
                            array('-','-','','','','','','','','','','','','','','','','','','','','','','','','','','','',''),
                            $url);
         $url = str_replace('--','-',$url);
         $url = rtrim($url, "-");
         return $url;
     }    
    
    print_r(getUri());

<IfModule mod_rewrite.c>
    RewriteEngine on
    RewriteBase /
    RewriteCond %{REQUEST_FILENAME} !-f
    RewriteCond %{REQUEST_FILENAME} !-d
    RewriteRule ^(.*)$ index.php [QSA,L]
</IfModule>