First off, while we know that the asteroid was the deciding factor, it's very likely that it wasn't the only cause. The number of dinosaur species in the world was shrinking before the impact, and the volcanic activity and changing climate was at least making things very miserable for them. It's more likely that this K-Pg event was just the final nail in the coffin, as it were. Even so, it was a heck of a nail, and it's very important to remember:
Fortunately, the last point brings up a good idea of why what survived did. Dinosaurs, over the course of their 180-million-year hierarchy, began to grow specialized, being only able to live in specific environments and eat certain foods. The ones that did survive (birds, crocodiles, turtles, sharks, and small mammals, for instance) are notorious nowadays for being general specialists, being able to eat practically anything put before them.
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