You can turn the matlab example into an R list and use maps::map.where()
(notice that I closed the polygons manually)
NAm=data.frame(lat=c(90, 90, 78.13, 57.5, 15, 15, 1.25, 1.25, 51, 60, 60, 90),
lon=c(-168.75 ,-10 ,-10 ,-37.5 ,-30 ,-75 ,-82.5 ,-105 ,-180 ,-180 ,-168.75, -168.75))
NAm2 = data.frame(lat=c(51, 51, 60, 51),
lon=c(166.6, 180, 180, 166.6))
SAm = data.frame(lat=c(1.25, 1.25, 15, 15, -60, -60, 1.25),
lon=c(-105, -82.5, -75, -30, -30, -105, -105))
europe=data.frame(lat=c(90, 90, 42.5, 42.5, 40.79, 41, 40.55, 40.40, 40.05, 39.17, 35.46,
33, 38, 35.42, 28.25, 15, 57.5, 78.13, 90),
lon=c(-10, 77.5, 48.8, 30, 28.81, 29, 27.31, 26.75, 26.36, 25.19, 27.91,
27.5, 10, -10, -13, -30, -37.5, -10, -10))
africa=data.frame(lat=c(15, 28.25 ,35.42 ,38 ,33 ,31.74 ,29.54 ,27.78 ,11.3 ,12.5 ,-60 ,-60, 15),
lon=c(-30 ,-13 ,-10 ,10 ,27.5 ,34.58 ,34.92 ,34.46 ,44.3 ,52 ,75 ,-30, -30))
australia=data.frame(lat=c(-11.88, -10.27, -10 ,-30 ,-52.5 ,-31.88, -11.88),
lon=c(110, 140 ,145 ,161.25 ,142.5 ,110, 110))
asia=data.frame(lat=c(90 ,42.5 ,42.5 ,40.79 ,41 ,40.55 ,40.4 ,40.05 ,39.17 ,35.46 ,33 ,
31.74 ,29.54 ,27.78 ,11.3 ,12.5 ,-60 ,-60 ,-31.88 ,-11.88 ,-10.27 ,33.13 ,51 ,60 ,90, 90),
lon=c(77.5 ,48.8 ,30 ,28.81 ,29 ,27.31 ,26.75 ,26.36 ,25.19 ,27.91 ,27.5 ,
34.58 ,34.92 ,34.46 ,44.3 ,52 ,75 ,110 ,110 ,110 ,140 ,140 ,166.6 ,180 ,180, 77.5))
asia2=data.frame(lat=c(90 ,90 ,60 ,60, 90),
lon=c(-180 ,-168.75 ,-168.75 ,-180, -180))
antarctica=data.frame(lat=c(-60, -60, -90, -90, -60),
lon=c(-180, 180, 180, -180, -180))
continents=list(
y=c(NAm$lat, NA, NAm2$lat, NA, SAm$lat, NA, europe$lat,NA,africa$lat,NA,
australia$lat,NA,asia$lat,NA,asia2$lat,NA,antarctica$lat),
x=c(NAm$lon, NA, NAm2$lon, NA, SAm$lon, NA,europe$lon,NA,africa$lon,NA,
australia$lon,NA,asia$lon,NA,asia2$lon,NA,antarctica$lon),
names=c("North America", "North America:2", "South America", "Europe",
"Africa","Australia","Asia","Asia:2","Antarctica"))
class(continents) <- "map"
with this, you can use the maps package:
maps::map.where(continents, x=-94.88704, y=29.51974)