I see both at fault, granted the cop is at worse fault for firing without clear reason. The driver should never have gotten out of his truck and approached the officer; the officer is already nervous because he has pulled someone over and has no idea if the person is the type to attack. So when you see a person exit the vehicle and approach while reaching to your pocket he will react. Should he have fired, no. The most he should have done was draw his weapon and have the person stop. At least that is what I would have done, or rather like to think I would have done. What would you have done, there is the possibility that something could happen and you are suddenly faced with someone walking towards you with his or her hand going to their pants.
As for the sniff and peek, why be worried if you are not doing anything illegal. That is my thought on the matter, so long as I have nothing to hide there is no reason for them to search my vehicle and if they do so without my consent my kids will have their college paid for.