Hitler had a social darwinism ideology. This basically means "survival of the fittest" and the "fittest" in his eyes are the Aryan people. He believed that his race was "being polluted by intermarriage with non-Germans, or his definition of "inferior". His thinking was that intermarriage with jews, slavs, etc., would dilute the superior characteristics of pure German blood. In order for his people to thrive he needed to get rid of the problem, he thought it was he's responsibility to rid these people from his.
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