The main, more traditional outfits (Hertz, Budget etc) are all located in the terminal. The smallest lines are usually at Hetz however you never know what they could be like. All of these companies have their cars in a central Carpark 2 minute walk from the terminal.
as for the other outfits, most of them require a shuttle except for Ace and Jucy which are located on the airport grounds. Ace is the closets with a 2 minute walk from the arrivals hall.