Before Milwaukee police shot and killed a man, prosecutors say he and three others robbed a warehouse and one of them fired gunshots at the business owner who attempted to intervene.

A criminal complaint was filed against Orlando Lagar, 34, who was with the man a police officer shot and killed, Anthony Virginia , 44, on March 8. The Milwaukee Police Department had already disclosed the shooting of the man followed their officers responding to a report of an entry into a business on the 5100 block of North 32nd Street, however the complaint provides new details on what happened.

Lagar is charged with burglary, a felony, for his role in the events.

Lagar, Virginia, a woman and another man were involved in the burglary of a warehouse before the shooting occurred, according to the criminal complaint. During it, prosecutors say the owner of the warehouse came across the group while they were inside of it and, after his brother arrived, the two intervened as two of them attempted to leave.

At this time, a man fired a gun at them before they ran away, according to the criminal complaint. The caller initially said the man in green, identified as Lagar, shot at him but the owner later told police in an interview it was the man in black, identified later as Virginia, who shot at him.

In a subsequent interview with police, prosecutors say Lagar admitted to his role in the burglary and said Valentine shot at the warehouse owner. The man also said he saw Virginia lower his gun toward an officer and fire it once, before police shot Virginia, according to the criminal complaint.

Milwaukee police have not said Virginia fired at the officer and bodycam footage, released on Monday , did not appear to indicate a gunshot was fired.

The released bodycam footage included three clips, which showed the two men fleeing and being found by police; the moments Virginia was shot; and the aftermath of the shooting. The video of the shooting is from a far distance and details are difficult to make out of what transpired before the officer shot the man. The officer shouts commands for about 10 seconds before shooting and killing Virginia.

The officer who fired is a 41-year-old man and 10-year veteran of the department. He was placed on administrative duty, according to policy.

The Milwaukee Area Investigative Team is investigating the shooting, with the Wauwatosa Police Department leading the investigation. That group is known as MAIT and is a collection of seven Milwaukee-area police agencies that step in as the outside investigators for critical incidents to satisfy state law.

MAIT will send the results of its investigation to the Milwaukee County District Attorney's Office, who would make any charging decision in the shooting.

Lagar, the man charged with burglary, has a March 31 indigency hearing for his next court appearance. That hearing will determine whether the man can afford legal representation.

David Clarey is a public safety reporter at the Milwaukee Journal Sentinel. He can be reached at [email protected] .