How can I use this structure. Here is an example of what I mean: 
It doesn’t have .html or .php or a “/” at the end.
I have been using this structure: http://s0ulp1xel.x10.mx/?p=home
What is the URL type called?
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You’re looking for a URL alias:
Apache – Mapping url to local path for static content
https://httpd.apache.org/docs/2.2/urlmapping.html
http://httpd.apache.org/docs/2.2/mod/mod_alias.html#alias