Yes I have. I can do it by Kegeling.
If I Kegel in a flaccid state, just the movement of the penis in and out, or the movement of it against my leg will eventually cause an orgasm. And it never gets erect. It is a mind over matter thing!
If I Kegel in an erect state, the flipping up and down of my penis will, again, eventually cause me to reach an orgasm.
Of course, laying back, with my eyes closed, and imagining a hot sexual situation is a big help! Try it, you might be able to do it too!