The semiclassical perturbation method developed by Henkel et al. [J. Phys. II 4, 1955(1994] to model cold-atom diffraction by optical standing waves, is applied to the diffraction of fast atoms on crystal surfaces at grazing incidence (GIFAD or FAD). We first show that the interaction time and interaction length embedded in the obliquity factor is well suited to explain the transition from three-dimensional to two-dimensional (2D) diffraction. The situation of a slightly misaligned primary beam, corresponding to oblique incidence in the effective 2D system, is addressed pointing out discrepancies such as the absence of net deflection of the atomic beam. Guided by time-reversal considerations, we propose an arbitrarily symmetrized form significantly improving the agreement with experimental data recorded in oblique incidence.