Many, many years ago, search engines did not spider or index Dynamic Content sites (like zencart).

But MOST good websites today are Dynamic Content.

So (about 8 years ago) the Search Engines started working on algorithms that could index a Dynamic Content site.

Today, the big search engines (accounting for over 95% of web searches) do NOT need URL's re-written to mimic static URL's

In fact, search engines PREFER that you do not re-write URL's

"SEO URL's" are a thing of the distant past... and they may actually do more harm than good.