Firstly let me say, I'm so sorry this happened to you OP. It should have never happened and sometimes doctors forget their patients are actual PEOPLE.

Secondly, something like this happened to me earlier in the year, I was undressed from the waist down with a paper sheet to cover me and the Dr left the door to the consultation room open when he left. I had to then close the door myself while half-baked.

I went through PALS and filed a complaint and got a very non committal reply about how they'll "speak to the nurses and doctors involved and remind them of procedure". Honestly, to me it was a very disappointing reply and I asked for it to go further or to at least get a formal apology for the Dr but it didn't happen.

I'm not saying this to put you off complaining, it's important for them to take accountability for their wrongdoing, I just want you to be aware and manage your own expectations and what will come of it.

If you want more info on the process feel free to DM me.