I worked industrial construction for 40+ years and all concrete was poured on to virgin soil, no rock. This is in compliance with ACI 318 Code for Concrete construction.
If in a water seepage area, then sometimes a "mud slab" about 2" thick was poured onto virgin soil for workers to walk on and not muck up the mud. They put their rebar in using 3" square x2" thick concrete rebar supports that we made on site with 4000 PSI mix concrete. The plastic store bought ones work OK also.
UP North in Canada, when a slab was put in above the frost line (this was almost all as the frost line was 13 feet minimum) the concrete was places on high density foam to allow the ground to heave a bit without affecting the slab.