I was looking for this solution as well. I added Gumbo's solutions and it worked great for me. But my original was different. My site/app rewrite redirects everything through index.php (for fany urls and ../application) except for files you request specifically. (like an image or other static files in the public root) Here's my original, which I found off the ZF site a long time ago.
RewriteEngine On
RewriteCond %{REQUEST_FILENAME} -s [OR]
RewriteCond %{REQUEST_FILENAME} -l [OR]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^.*$ - [NC,L]
RewriteRule ^.*$ index.php [NC,L]
Here's with Gumbo's additional rules to force SSL on the whole site. So far works good for me.
RewriteEngine On
RewriteCond %{HTTPS} !=on
RewriteRule ^ https://%{HTTP_HOST}%{REQUEST_URI} [L,R=301]
RewriteCond %{REQUEST_FILENAME} -s [OR]
RewriteCond %{REQUEST_FILENAME} -l [OR]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^.*$ - [NC,L]
RewriteRule ^.*$ index.php [NC,L]