Rigid body configuration method, apparatus, terminal device, and computer storage medium are provided. The method includes: initializing the positions of reflective markers of each rigid body; selecting a reflective marker from the reflective markers with undetermined target positions as a target reflective marker, fixing other reflective markers except for the target reflective marker, and successively moving the target reflective marker through each vacant position in the three-dimensional space of the rigid body to which the target reflective marker belongs; respectively calculating the degree of rigid-body difference when the target reflective marker is at each position based on the position information of each reflective marker; determining the position corresponding to the maximum value of the degree of rigid-body difference as the target position of the target reflective marker; using the same method to determine the target positions of all reflective markers in the system, and completing a rigid-body configuration.