Yes there is:
<IfModule mod_rewrite.c>
RewriteEngine On
RewriteCond %{REQUEST_FILENAME} -f [OR]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^(.+) - [PT,L]
RewriteRule ^assets/(.*)$ public/assets/$1 [L]
</IfModule>
The first block of conditions and the first rule apply to existing files and folders, and the second rule, if the actual rewriting should occur, if there is no file or folder.
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