Abrupt and continuous spontaneous emergence of collective synchronization of coupled oscillators have attracted much attention. In this paper, we propose a dynamical ensemble order parameter equation that enables us to grasp the essential low-dimensional dynamical mechanism of synchronization in networks of coupled oscillators. Different solutions of the dynamical ensemble order parameter equation build correspondences with diverse collective states, and different bifurcations reveal various transitions among these collective states. The structural relationship between the incoherent state and the synchronous state leads to different routes of transitions to synchronization, either continuous or discontinuous. The explosive synchronization is determined by the bistable state where the measure of each state and the critical points are obtained analytically by using the dynamical ensemble order parameter equation. Our method and results hold for heterogeneous networks with star graph motifs such as scale-free networks, and hence, provide an effective approach in understanding the routes to synchronization in more general complex networks.