As Gromett said earlier, burning hydrogen is far from ideal. Petrol derived engines can be quite heavily modified to work on hydrogen. A diesel engine is far too high compression though. Much like trying to use petrol in a diesel engine, you'd end up pre-detonation and you'd get to meet Rodney and his mates pretty quickly. So you'd an engine and transmission swap to even begin. May as well go to fuel cells at that point.