Every Diesel car/van/truck engine made from as for back as 1950 has used
either a swirl chamber or direct injection

https://www.google.co.uk/search?q=di...w=1024&bih=701

the ignition, firing or start of burn call it what you like of a diesel is
at the moment of injection of fuel into compressed heated air.

excluding of course model plane/boat CI engines that use "glow fuel" which
is not a heavy Diesel oil at all.