We compute the spin-orbit torque in a transition-metal heterostructure using Slater-Koster parametrization in the two-center tight-binding approximation and accounting for d orbitals only. In this method, the spin-orbit coupling is modeled within Russel-Saunders scheme, which enables us to treat interfacial and bulk spin-orbit transport on equal footing. The two components of the spin-orbit torque, dissipative (dampinglike) and reactive (fieldlike), are computed within Kubo linear response theory. By systematically studying their thickness and angular dependence, we were able to accurately characterize these components beyond the traditional inverse spin galvanic and spin Hall effects. We find that the conventional fieldlike torque is purely interfacial. In contrast, we unambiguously demonstrate that the conventional dampinglike torque possesses both an interfacial and a bulk contribution. In addition, both fieldlike and dampinglike torques display substantial angular dependence with strikingly different thickness behaviors. While the planar contribution of the fieldlike torque decreases smoothly with the nonmagnetic metal thickness, the planar contribution of the dampinglike torque increases dramatically with the nonmagnetic metal thickness. Finally, we investigate the self-torque exerted on the ferromagnet when the spin-orbit coupling of the nonmagnetic metal is turned off. Our results suggest that the spin accumulation that builds up inside the ferromagnet can be large enough to induce magnetic excitations.