This answer is an attempt to address: how to control java version system-wide (not just in currently running shell) when several versions of JDK are installed for development purposes on macOS El Capitan or newer (Sierra, High Sierra, Mojave). As far as I can tell, none of the current answers do that (*).
As a developer, I use several JDKs, and I want to switch from one to the other easily. Usually I have the latest stable one for general use, and others for tests. But I don't want the system (e.g. when I start my IDE) to use the latest "early access" version I have for now. I want to control system's default, and that should be latest stable.
The following approach works with Java 7 to 12 at least (early access at the time of this writing), with Oracle JDK or OpenJDK (including builds by AdoptOpenJDK produced after mid-October 2018).
/Library/Java/JavaVirtualMachines. The system will pick the highest version by default. Contents/Info.plist to Info.plist.disabled. That JDK can still be used when $JAVA_HOME points to it, or explicitly referenced in a script or configuration. It will simply be ignored by system's java command.System launcher will use the JDK with highest version among those that have an Info.plist file.
When working in a shell with alternate JDK, pick your method among existing answers (jenv, or custom aliases/scripts around /usr/libexec/java_home, etc).
Details of investigation in this gist.
(*) Current answers are either obsolete (no longer valid for macOS El Capitan or Sierra), or only address a single JDK, or do not address the system-wide aspect. Many explain how to change $JAVA_HOME, but this only affects the current shell and what is launched from there. It won't affect an application started from OS launcher (unless you change the right file and logout/login, which is tedious). Same for jenv, it's cool and all, but as far as I can tell it merely changes environment variables, so it has the same limitation.