Is it possible, with Envoy Proxy, to apply an HTTP filter based on the URL?

As the title says, I would like an HTTP filter to apply only if the request is for certain URL path. Doing this at the route level is not possible, because my route is defined like this:

- match:
    prefix: "/api/"
  route:
    cluster: some_backend_service
    prefix_rewrite: "/"

But I would like to apply different (security related) filters for /api/foo than for /api/bar. I can't seem to find a way to do this looking at the documentation, is it even possible? Thanks.