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| Endothiodon |
What sort of animals did mammals evolve from? For birds, the answer is simple: they evolved from reptiles, and specifically, from dinosaurs. (Which is why we say, using the modern definitions of things, that birds
are dinosaurs). With mammals, though, the situation isn't quite the same.
The first mammals appeared around 225 million years ago, not long after the first dinosaurs did. However, they were not descended from reptiles, but from an entirely separate evolutionary line - the Synapsida - that had lived alongside the reptiles for a very long time. Yes, if you go back far enough, reptiles and mammals do have a common ancestor, and that animal would have looked, to modern eyes, more like a reptile than it does a mammal. But it wasn't a reptile, not in the modern scientific sense, and it belonged to a group of animals that just aren't around any more.
But between the point when that animal lived, and the first mammals appeared, there were a whole host of other, non-mammalian, synapsids. We often divide these creatures into two broad "grades" of evolution: the early, reptile-like, pelycosaurs, and the later, more mammal-like, therapsids. (In fact, of course, the two lived together for quite some time - it's not that one simply turned into the other. Evolution is more complicated than that). A greatly simplified tree of the "true" therapsids is included below, and shows that early mammals had rather a lot of relatives.