htaccess adds ?_url=/ when no trailing slashes provided

Hello,

I read a lot of discussions about routing but I couldn't find someone with the same problem I'm facing.

We have routes poiting to autogenerated apidoc, which goes to public/apidoc/ (with index.html, css folder, img folder etc)

in Bootstrap, I declared the route like this :

    $router->add(
        "/apidoc",
        [
            'namespace' => "Project\\Index\\Controllers",
            'module' => 'index',
            'controller' => 'index',
            'action' => 'apidoc'
        ]
    );

and in my action :

/**
 * Action to render the view of the auto-generated doc page
 * @param string $folder
 */
public function apidocAction () : void
{
    $this->view->setViewsDir(PUBLIC_PATH . '/apidoc');
}

If I want to access the page, it works with https://www.mywebsite.fr/apidoc/

But if I write down https://www.mywebsite.fr/apidoc, the url is rewritten like this :

https://www.mywebsite.fr/apidoc/?_url=/apidoc

It works, the doc is displayed but the url is ugly and not convenient...

I tried modifying htaccess in all ways and I'm out of ideas.

The htaccess files are like this :

public/.htaccess

AddDefaultCharset UTF-8

<IfModule mod_rewrite.c>
     RewriteEngine On
     RewriteCond   %{REQUEST_FILENAME} !-f
     RewriteRule   ^((?s).*)$ index.php?_url=/$1 [QSA,L]
</IfModule>

/.htaccess

<IfModule mod_rewrite.c>
    RewriteEngine on
    RewriteRule ^$ public/ [L]
    RewriteRule (.*) public/$1 [L]
</IfModule>

Thanks for the help, I've been using Phalcon for 3 years now and I never faced the problem before, maybe the way we point public files with setViewsDir is wrong, I'm open to other solutions of course.