A smaller surface area-to-volume ratio is better for keeping warm, so many ice age mammals were huge. Although the dominant animals were mammals, you might not recognize the Pleistocene Earth any more than the Mesozoic Earth.
The extinction of so many species at the end of the Mesozoic again left many niches available to be filled. Although we call the Cenozoic the age of mammals, birds are more common and more diverse. Early in the era, terrestrial crocodiles lumbered around along with large, primitive mammals and prehistoric birds.
Their adaptations have allowed mammals to spread to even more environments than reptiles. The success of mammals is due to several of their unique traits. Mammals are endothermic and have fur, hair, or blubber for warmth. Mammals can swim, fly, and live in nearly all terrestrial environments. Mammals initially filled the forests that covered many early Cenozoic lands. Over time, the forests gave way to grasslands, which created more niches for mammals to fill.
As climate cooled during the ice ages, large mammals were able to stand the cold weather, so many interesting megafauna developed. These included giant sloths, saber-toothed cats, wooly mammoths, giant condors, and many other animals that are now extinct (Figure below).
The saber-toothed cat lived during the Pleistocene.
Many of the organisms that made up the Pleistocene megafauna went extinct as conditions warmed. Some may have been driven to extinction by human activities.
Imagine a vast grassy plain covered with herds of elephants, bison and camels stretching as far as the eye can see. Lions, tigers, wolves and later, humans, hunt the herds on their summer migration. This was the San Francisco Bay Area at the close of the last Ice Age.
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