I've created a Zend_Application using the zf tool that's bundled with Zend Framework (1.96, if that matters)

What at the rules for formatting action names and how those action names get translated into into URL paths, and where in the Framework codebase does this happen?

I ask because I tried to create an action like

public function createFooAction()
{
}

and it wouldn't load with a URL like

http://example.com/controller/createFoo

BUT, the following did work

public function createfooAction()
{
}
http://example.com/controller/createfoo

I also know non-alphanumeric characters get treated differently, and I'd like to know the base rules I'm dealing with.