programming Arduino both in IDE and MATLAB

I have a question regarding programming Arduino simultaneously both in native Arduino IDE and MATLAB (a hybrid workflow). Is there any way to keep part of the code inside MATLAB and write part of the code inside Arduino IDE?

I am talking about the 1st method stated here:

https://www.mathworks.com/discovery/arduino-programming-matlab-simulink.html

This is because some of the libraries are not supported inside MATLAB, and writing class for them takes time.