Permalink with duplicate titles

Hello, is it possible to use same post titles for different categories with pretty permalink?

I want to have /%category%/%postname%/ permalinks and two posts with the same title “Post title” in different categories “Category 1” and “Category 2”
So I want following links:
http://www.example.com/category-1/post-title
http://www.example.com/category-2/post-title

But when I publish the second post, then its URL is changed to post-title-2, so URL is http://www.example.com/category-2/post-title-2.

So, I want duplicities in post titles, but not in the whole URL, because of other category. Is there an any way to achieve this?