In early chess variations the king could move two squares (in any direction?) on his first move. Around this time castling occured in two moves. (From memory) The rook moved on move x and the king jumped over it moving two squares on move y. This eventually was replaced by a single move castle.
I'm not sure this answers your question though because I believe even then the early slower castling maneouver was the only move that the king could jump over a piece. Once again this is just from memory.
Where did that movement off rook and king come from.always thought this but never thought to find out of ask,you cant do this with other pieces on the board