Dinosaur evolved through survival of the fittest. They would have evolved int he same manner but after a time it was the small mammals that thrived and produced us humans and all other mammals. Some dinosaurs did survive but evolved into birds. Have you ever seen a birds leg? It appears scaly with large claws, just like a dinosaur.
There was a sudden change in the world – maybe from an asteroid hitting – and there was less food available. Many dinosaurs were too big to be able to change and adapt quickly enough, I guess, while smaller animals found it easier.
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