Autofocus Guide Everything D7100 D7000
As we read here, using the 21 point AF option is NOT suggested for slow targets moving in a predictable manner, but the 9-point AF I suggested earlier is suggested for predictable movement on slowish subjects. The 9-point system uses only neighboring points...the 21-point pattern is, to put it simply, "scanning for" outlying points as well, and is probably sensing the child's moving arms, and at times, at the right distances, might even be reading areas off to the sides of her body, since the 21 points with a 50mm can cover a reasonably large area of real estate.
I'd suggest taking a look at this instruction guide to D7100 autofocus, and going through it, and reviewing some of the basics of how the system has been engineered to operate. If you cannot get even ONE frame out of 60 on something as slow as a toddler, but the system absolutely NAILS wide-aperture, close-range shots, in backlighting, I'm gonna guess that the problem is not the hardware, but the way the hardware is being set-up, and how it is being used.
AF systems have become complicated. The D7100 has three AF mode types, and four AF area modes, plus Custom Settings. Shoot in Continuous advance mode AND keep your finger on the trigger.
Again...3-D tracking depends on the USER being able to correctly configure the camera, and then actually manually starting the sequence, every sequence, with a focus acquisition starting point.
A good way to check if it is you, the user, or the hardware, might be to slap the camera into
Auto Area AF mode, and let the camera determine the best focusing approach, based on the computer tracking the subject's speed, direction, and using the SRS or scene recognition system, which can measure luminance values, distances, and measure RedGreenBlue coloring of objects. You have nothing to lose if you've set the camera up and your idea netted you 0 out of 60 shots on a toddler, but as soon as she stops, the system NAILS focus. MY bet is that in Auto Area AF, the camera can out-perform you in this situation.