What if the asteroid that hit the earth and killed the dinosaurs, Missed?

65 million years ago, the dinosaurs alonge with other creatures bigger then a cat was wiped of the face of the planet, now what if It hit earth and the dinosaurs normaly went on with their days?  Some say that dinosaurs already on earth were in a bad state due too volcanic activity but they have been around 150 million years, so they probabely would have been able to easily live through that time if an astroid did not hit, DInosaurs at that time were just in a slump, if It did not hit, What would earth be like today? Would bird like reptile humanoids rule the earth now? would mammals have a chance to evolve to be more then rat or shrew like animals? Would they have evolved to cope with the cold of the ice age? You tell me/