http://www.xoops.url/newbb/viewtopic/topic_id,26288,forum,3.html
would be this
http://www.xoops.url/newbb/viewtopic/topic_id,26288,forum,3-Title-heregoesthetitleofthepost.html
It is quite easy to attach the title to the url, BUT be careful! You have to sanitize the title first from special chars and shorten it to a appropriate length.