Photons mediate long-range optomechanical forces between atoms in high finesse resonators, which can induce the formation of ordered spatial patterns. When a transverse laser drives the atoms, the system undergoes a second order phase transition, that separates a uniform spatial density from a Bragg grating maximizing scattering into the cavity and is controlled by the laser intensity. Starting from a Fokker-Planck equation describing the semiclassical dynamics of the N -atom distribution function, we systematically develop a mean-field model and analyse its predictions for the equilibrium and out-of-equilibrium dynamics. The validity of the mean-field model is tested by comparison with the numerical simulations of the N -body Fokker-Planck equation and by means of a BBGKY hierarchy. The mean-field theory predictions well reproduce several results of the N -body FokkerPlanck equation for sufficiently short times, and are in good agreement with existing theoretical approaches based on field-theoretical models. Mean-field, on the other hand, predicts thermalization time scales which are at least one order of magnitude shorter than the ones predicted by the N -body dynamics. We attribute this discrepancy to the fact that the mean-field ansatz discards the effects of the long-range incoherent forces due to cavity losses.