1. A computer-implemented method for tracking a physical target the method comprising: receiving a depth image that captures the physical target in a physical space; determining a first point that corresponds to a point where an extremity of the physical target meets a torso of the physical target; determining a second point that corresponds to a joint of the extremity of the physical target; determining a direction to search based on a line formed between the first point and the second point; and determining a third point of the extremity based on the direction to search and depth values of the depth image.