Yes, you can either draw the world multiple times into different frame buffers or enable the OpenGL renderer without disabling the software one. That way, the scene should be rendered using both renderers and because the target is different (image buffer for software, a native window or a canvas for OpenGL), this can be done with one buffer....in theory. In practice, i've never tried this in the last few years. However, support for doing it should still be in.
Anyway, you have to consider some things when using either way: The performance of the OpenGL renderer will suffer, because it will be limited by software renderer's performance. And you may run into problems when using compile() on objects that should be rendered with the software renderer.
May i ask what the purpose is?