One can't tell from the pictures whether the glass was broken from the inside or outside. Punch one small hole, pull out enough pieces to get to the door handle ... And the bit about the underwear ... I've seen no such information. Pelosi may have been sleeping in his underwear, kind of ordinary.
These thing happen fast. Glass breaks, sets off motion detector or some alarm, cops come before the perp got the hammer and assaulted Pelosi.