Codeigniter URL Pattern using htaccess / route / model

I've just put my hands on MVC and new to Codeigniter.

As per my understanding Codeigniter url consist of (base url) / Class / Method

I am trying some more complex url structure as
base_url/listing/category/country/state/city/listing-id-23
which I presume can be achieved by calling another controller from another, or may be using route.

PS, category/country/state/city here changes dynamically based on product.

Is it possible to have url like that with Codeigniter or do I have to stick with www.example.com/listing/listing-id-23 ?
Thanks you.